CN115476825B - Braking system for railway vehicle and control method thereof - Google Patents
Braking system for railway vehicle and control method thereof Download PDFInfo
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- CN115476825B CN115476825B CN202211204880.5A CN202211204880A CN115476825B CN 115476825 B CN115476825 B CN 115476825B CN 202211204880 A CN202211204880 A CN 202211204880A CN 115476825 B CN115476825 B CN 115476825B
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000008569 process Effects 0.000 claims abstract description 5
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000012163 sequencing technique Methods 0.000 claims description 4
- 230000007547 defect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000872 buffer Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
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- 230000008054 signal transmission Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1705—Braking or traction control means specially adapted for particular types of vehicles for rail vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/18—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution
- B60T8/1893—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle weight or load, e.g. load distribution especially adapted for railway vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
- B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
- B60T8/3235—Systems specially adapted for rail vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0018—Communication with or on the vehicle or train
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0054—Train integrity supervision, e.g. end-of-train [EOT] devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Regulating Braking Force (AREA)
Abstract
The application discloses a braking system for a railway vehicle, and aims to solve the defects of inaccurate control and poor follow-up performance caused by the adoption of open loop control for the railway vehicle. The application comprises a control unit, an execution unit and a sensing unit, wherein the control unit collects braking information, the execution unit is controlled by a network to carry out braking implementation or braking alleviation, the control unit receives and processes a speed signal from the sensing unit, and the corresponding execution unit is controlled to reduce, maintain or restore braking force, so that the speed of a vehicle tends to a preset braking speed. The application realizes accurate control and improves the follow-up property of the vehicle through large closed-loop control among the control unit, the execution unit and the sensing unit.
Description
Technical Field
The invention relates to the technical field of rail transit, in particular to a braking system for a rail vehicle and a control method thereof.
Background
With the development of technology for rail vehicles, rail vehicles are becoming the vehicle of choice for more and more passengers to travel. The force generated by the braking system in the opposite direction of travel of the train, referred to as braking force, inhibits movement of the train, including slowing it down, preventing movement, or accelerating movement, may be referred to as braking. Conversely, the attenuation or release of the brake application process is referred to as alleviation.
The existing rail train adopts open loop control, so that the speed accuracy of the rail vehicle is low and the follow-up performance is poor.
Chinese patent publication No. CN106536301a, entitled brake system for a cabin of a rail vehicle, an adjusting device and a method for operating an adjusting device, discloses a brake system for a cabin of a rail vehicle comprising an adjusting device with at least one disc brake for each axle, wherein the adjusting device has a control device. The adjusting device is configured with at least one cabin control unit and at least one coupling unit for selectively controlling the at least one disk brake for each axle. The invention also relates to an adjusting device and a method for operating an adjusting device and a method for deicing and/or preventing icing of a brake unit of a brake system for a cabin of a rail vehicle. The application adopts open loop control, and under complex temperature, speed and topography changes, the dynamics and the maintenance time of braking force can't match with vehicle speed, lead to can not effectively carry out braking implementation or braking and alleviate to lead to vehicle speed to be in great scope.
Disclosure of Invention
The invention overcomes the defect that the existing railway vehicle braking adopts open-loop control, and provides a braking system for the railway vehicle, which realizes accurate control through closed-loop control and improves the follow-up property of the vehicle.
In order to solve the technical problems, the invention adopts the following technical scheme:
A braking system for a railway vehicle comprises a control unit, an execution unit and a sensing unit, wherein the control unit collects braking information, the execution unit is controlled by a network to conduct braking implementation or braking alleviation, the control unit receives and processes a speed signal from the sensing unit, and the corresponding execution unit is controlled to reduce, maintain or restore braking force so that the vehicle speed tends to a preset braking speed.
The control unit, the execution unit and the sensing unit are all arranged in the corresponding bogie of the railway vehicle. Signals are transmitted between the units through a network. The network includes a wireless network and a hard signal line. The control unit receives the speed signal from the sensing unit and controls the braking force of the executing unit and the time for maintaining the braking force. On the basis, the control unit continuously receives the speed signal of the sensing unit to adjust the control signal transmitted to the execution unit, and adjusts the braking force of the execution unit and/or the time for maintaining the braking force. The structure realizes accurate control through closed-loop control, and improves the follow-up performance of the vehicle.
Preferably, the sensing unit includes a rotation speed sensor corresponding to each axle. The rotational speed of the axle or wheel is determined by a rotational speed sensor, and the corresponding vehicle speed can be deduced from the diameter of the wheel.
Preferably, the sensing unit further comprises an acceleration sensor or a speed measuring radar. The configuration of the acceleration sensor/speed measuring radar can improve the accuracy and precision of the control unit for identifying the speed signal of the train (vehicle), and avoid misjudgment of the speed signal of the train (vehicle) caused by poor adhesion condition of wheels and rails with longer rail surfaces or speed deviation of the whole rotating speed sensor under other special conditions.
Preferably, the device further comprises a power supply unit, wherein the power supply unit is electrically connected with the control unit and the execution unit. The power supply unit consists of a vehicle power supply, a standby power supply and a power supply management unit, and the vehicle power supply is used as a power supply source of the control unit and the electromechanical braking unit in normal operation; if the power supply of the vehicle fails, switching to a standby power supply; the power management unit is responsible for monitoring the working states and the power quality of the vehicle power supply and the standby power supply, performing power conversion or power filtering, and then outputting the power conversion or power filtering to the control unit and the electromechanical braking unit. The power supply of the electromechanical braking unit is directly provided by the power management unit: firstly, the node of the control unit is reduced from the transmission link, and the possibility of power line faults and interference is reduced; secondly, the requirement of the control unit on the power supply is reduced, the heating value of the control unit is reduced, and the working environment of the control unit is improved; and finally, only network wires of a network are arranged between the control unit and the electromechanical braking unit, so that complicated cable wires such as a power wire, a control wire and a feedback wire are simplified.
Preferably, the execution unit comprises several electromechanical braking devices.
Preferably, the control unit, the execution unit and the sensor unit are connected only via a communication network. The communication network includes a hard network wire and a wireless mode. By the corresponding connection mode of the power supply, the laying of the power supply line and the signal line is omitted.
A method of braking a railway vehicle, comprising a braking system for a railway vehicle as described above, comprising a number of control units, each train car being provided with at least one control unit, the steps comprising:
(1) Setting a control unit as a master control unit according to a preset sequence, and setting the rest control units as slave units;
(2) The master control unit collects environment information through a network and performs braking calculation, and transmits the braking information to the slave unit through the network;
(3) And the corresponding braking system of each control unit executes braking according to the acquired braking information.
The application relates to an automatic braking system for rail vehicles, for coordinating the vehicles or heads with braking or traction that are to be interactive on a rail train, comprising the bogies of the individual vehicles and a traction system for providing the vehicle power. When active speed change is needed, a main control unit is selected according to preset arrangement, and then corresponding braking information is obtained through braking calculation; corresponding braking information is assigned to the other slave units. The slave unit performs closed-loop control on the corresponding execution unit according to the braking information to reduce, maintain or restore. By cooperation with the retractors of the individual vehicles, a fully automated operation for the rail vehicle is achieved.
Preferably, the environmental information includes braking information provided by the master control unit corresponding to a braking system of a bogie of a car, a traction system, and a braking system of a bogie of another vehicle, and the braking information includes load information and speed information. The braking system of each vehicle bogie, the traction system and the braking systems of the bogies of other vehicles are provided for the motion information of the vehicles, which is captured by the sensing units and collected by each control unit of the main control unit.
Preferably, the preset sorting order is:
(1) Numbering each control unit;
(2) And selecting the control systems one by one according to the number sequence as a main control unit. The configuration of each control unit is the same and has the same computing power. And after the train is powered on and off each time, selecting a corresponding control unit as a main control unit according to the number.
Preferably, the preset sorting order is:
the control unit started first after the train is started is the main control unit.
When the train is recovered by unexpected power failure, the preset sequencing mechanism can recover the main control unit in the braking system fastest, and when the main control unit performs braking calculation, the consumed time buffers the starting of other follow-up driven units, so that the braking capability of the vehicle is recovered fastest, and the tolerance of the vehicle is improved.
Compared with the prior art, the application has the beneficial effects that: (1) According to the application, through large closed-loop control among the control unit, the execution unit and the sensing unit, accurate control is realized, and the follow-up performance of the vehicle is improved; (2) The control units of the train are divided into a master control unit and a slave unit to control braking force, so that full-automatic operation of the rail vehicle is realized.
Drawings
FIG. 1 is a schematic illustration of a braking system of the present invention;
In the figure:
the system comprises a control unit 1, an execution unit 2, a rotation speed sensor 3, an acceleration sensor or speed measuring radar 4, a vehicle power supply 5, a standby power supply 6, a power management unit 7, a network 8 and a cable 9.
Detailed Description
The disclosure is further described below with reference to the drawings and examples.
Example 1:
as shown in fig. 1, a brake system for a rail vehicle comprises a control unit 1, an execution unit 2 and a sensor unit.
In some embodiments, the sensing unit comprises a rotational speed sensor 3 corresponding to each axle. The rotational speed of the axle or wheel is determined by the rotational speed sensor 3, and the corresponding vehicle speed can be deduced from the diameter of the wheel. In other embodiments, the sensing unit further comprises an acceleration sensor or tachometer radar 4. The configuration of the acceleration sensor/speed measuring radar can improve the accuracy and precision of the control unit 1 for identifying the speed signal of the train (vehicle), and avoid misjudgment of the speed signal of the train (vehicle) caused by poor adhesion condition of wheels and rails on longer rail surfaces or speed deviation of the whole rotating speed sensor 3 under other special conditions.
In some embodiments, the execution unit 2 comprises several electromechanical braking devices. The electromechanical braking system not only has high braking force control precision, but also has response speed capable of following a target instruction with the frequency of 1 Hz sinusoidal changes. The electric mechanical braking device is internally provided with a speed measuring sensor, and the speed measuring sensor and a mechanical part of the electric mechanical braking device form a small closed loop, so that the braking speed is more accurate.
The device also comprises a power supply unit, wherein the power supply unit is electrically connected with the control unit 1 and the execution unit 2. The power supply unit consists of a vehicle power supply 5, a standby power supply 6 and a power supply management unit 7, wherein the vehicle power supply 5 is used as a power supply source of the control unit 1 and the electromechanical braking unit during normal operation; if the vehicle power supply 5 fails, switching to the backup power supply 6; the power management unit 7 is responsible for monitoring the operating states and the power quality of the vehicle power supply 5 and the standby power supply 6, performing power conversion or power filtering, and outputting to the control unit 1 and the electromechanical brake unit. The power supply of the electromechanical braking unit is provided directly by the power management unit 7: firstly, the node of the control unit 1 is reduced from the transmission link, and the possibility of power line faults and interference is reduced; secondly, the requirement of the control unit 1 on the power supply is reduced, the heating value of the control unit 1 is reduced, and the working environment of the control unit 1 is improved; finally, only network wires of the network 8 are arranged between the control unit 1 and the electromechanical brake unit, so that complicated cable wires 9 such as power wires, control wires, feedback wires and the like are simplified.
The control unit 1, the execution unit 2 and the sensing unit are connected only via a communication network. Each network line is connected to the control unit 1, each cable 9 is connected to the power supply unit, and the energy lines are separated from the signal lines, so that the stability of signal transmission is ensured, the protection requirement on the signal lines is reduced, and the wiring is easier.
As an embodiment, the execution unit 2 comprises 4 electromechanical braking devices, respectively the electromechanical braking units 2A, 2B, 2C, 2D, and the corresponding sensing units comprise rotation speed sensors 3, respectively 3A, 3B, 3C, 3D, respectively corresponding to the electromechanical braking units.
On the basis of the above, the control unit 1 collects braking information, controls the execution unit 2 to implement braking or release braking through the network 8, and the control unit 1 receives and processes the speed signal from the sensing unit to control the corresponding execution unit 2 to reduce, maintain or recover, so that the vehicle speed tends to the preset braking speed.
The control unit 1, the execution unit 2 and the sensor unit are all arranged in the corresponding bogie of the rail vehicle. Signals are transmitted between the various units via a network 8. The network 8 includes a wireless network and a hard signal line. The control unit 1 receives the speed signal from the sensing unit and controls the magnitude of the braking force of the executing unit 2 and the time for maintaining the braking force. On the basis of this, the control unit 1 continuously receives the speed signal of the sensor unit to adjust the control signal supplied to the execution unit 2, and adjusts the magnitude of the braking force of the execution unit 2 and/or the time for maintaining the braking force. The structure realizes accurate control through closed-loop control, and improves the follow-up performance of the vehicle.
Example 2:
A method of braking a rail vehicle has a plurality of vehicles and a braking system for providing braking force to the vehicles. Each vehicle has two bogies, each bogie or brake system having a method of braking comprising one of the rail vehicles described in example 1.
Thus, the brake system of a vehicle comprises several control units 1, each vehicle being provided with 2 control units 1.
One control unit 1 is set as a master control unit according to a preset sequence, and the rest control units 1 are slave units. The master control unit collects environmental information through the network 8 and performs braking calculation, the network 8 transmits braking information to the slave units, and the corresponding braking system of each control unit 1 executes braking according to the acquired braking information.
The application relates to an automatic braking system for rail vehicles, for coordinating the production of alternating vehicles or vehicles with braking or traction on a rail train, comprising a bogie for the individual vehicles and a braking system for providing the braking force of the vehicles. When active speed change is needed, a main control unit is selected according to preset arrangement, and then corresponding braking information is obtained through braking calculation; corresponding braking information is assigned to the other slave units. The slave unit performs a closed-loop control of the corresponding execution unit 2 according to the brake information to reduce, hold or restore. By matching with each tractor for the rail vehicle, the rail vehicle can be automatically operated.
The environmental information comprises braking information provided by the main control unit corresponding to a braking system of a bogie of the vehicle, a traction system and a braking system of a bogie of other vehicles, and the braking information comprises load information and speed information. The brake system of each vehicle bogie, the traction system and the brake systems of the bogies of other vehicles are provided for the motion information of the vehicles, which is captured by the sensing units and collected by each control unit 1 of the main control unit.
In some embodiments, the preset ordering order is:
(1) Numbering each control unit 1;
(2) And selecting the control systems one by one according to the number sequence as a main control unit. The configuration of each control unit 1 is the same and has the same computing power. After the train is powered on and off each time, the corresponding control unit 1 is selected as a main control unit according to the number.
In other embodiments, the predetermined ordering order is:
The control unit 1 started first after the train is started is the main control unit.
When the train is recovered by unexpected power failure, the preset sequencing mechanism can recover the main control unit in the braking system fastest, and when the main control unit performs braking calculation, the consumed time buffers the starting of other follow-up driven units, so that the braking capability of the vehicle is recovered fastest, and the tolerance of the vehicle is improved.
The above-described embodiments are merely preferred embodiments of the present invention, and the present invention is not limited in any way, and other variations and modifications may be made without departing from the technical aspects set forth in the claims.
Claims (9)
1. The braking method of the braking system for the railway vehicle is characterized in that the braking system comprises a control unit, an execution unit and a sensing unit, wherein the control unit collects braking information, the execution unit is controlled by a network to carry out braking implementation or braking alleviation, the control unit receives and processes a speed signal from the sensing unit, and the corresponding execution unit is controlled to reduce, maintain or restore braking force so that the speed of the vehicle tends to a preset braking speed;
The system comprises a plurality of control units, wherein each train carriage is provided with at least one control unit, and the configuration of each control unit is the same; the control unit started first after the train is started is a main control unit;
The method comprises the following steps:
(1) Setting a control unit as a master control unit according to a preset sequence, and setting the rest control units as slave units;
(2) The master control unit collects environment information through a network and performs braking calculation, and transmits the braking information to the slave unit through the network;
(3) Each control unit performs braking according to the acquired braking information.
2. A braking method for a braking system of a railway vehicle according to claim 1, characterized in that the sensing unit comprises a rotational speed sensor corresponding to each axle.
3. A braking method for a braking system of a railway vehicle according to claim 2, characterized in that the sensor unit further comprises an acceleration sensor or a speed measuring radar.
4. The method of claim 1, further comprising a power unit electrically connected to the control unit and the execution unit.
5. A braking method for a braking system of a railway vehicle according to any one of claims 1 to 4, characterized in that the execution unit comprises several electromechanical braking devices.
6. A braking method for a braking system of a rail vehicle according to claim 1, characterized in that the control unit, the execution unit and the sensor unit are connected only via a communication network.
7. A method of braking a braking system for a railway vehicle according to claim 1, characterized in that the environmental information comprises braking information provided by the braking system of the bogie corresponding to the master control unit, the traction system, the braking system of the bogie of the other vehicle, the braking information comprising load information and speed information.
8. A braking method for a braking system of a railway vehicle according to claim 1, characterized in that the preset sequencing order is: (1) numbering the individual control units; (2) And selecting corresponding control systems one by one according to the number sequence as a main control unit.
9. A braking method for a braking system of a railway vehicle according to claim 1, characterized in that the preset sequencing order is: and selecting a control unit which is started first after the train is electrified as a main control unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211204880.5A CN115476825B (en) | 2022-09-29 | 2022-09-29 | Braking system for railway vehicle and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211204880.5A CN115476825B (en) | 2022-09-29 | 2022-09-29 | Braking system for railway vehicle and control method thereof |
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| CN115476825A CN115476825A (en) | 2022-12-16 |
| CN115476825B true CN115476825B (en) | 2024-09-03 |
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| CN111959467A (en) * | 2020-08-20 | 2020-11-20 | 南京中车浦镇海泰制动设备有限公司 | Rail vehicle electromechanical braking anti-skid control system and method |
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| CN104582997B (en) * | 2012-08-14 | 2016-12-28 | 三菱电机株式会社 | Train information management device and apparatus control method |
| US10332708B2 (en) * | 2015-12-09 | 2019-06-25 | Thales Canada Inc | Seamless switchover system and method |
| CN109795518B (en) * | 2017-11-17 | 2021-03-19 | 中车唐山机车车辆有限公司 | Rail train braking control system and train |
| WO2022037298A1 (en) * | 2020-08-20 | 2022-02-24 | 南京中车浦镇海泰制动设备有限公司 | Rail vehicle electromechanical braking system and rail vehicle electromechanical braking force control method |
| CN112606813B (en) * | 2020-12-23 | 2022-06-28 | 神华铁路装备有限责任公司 | Train driver signal prompter and train brake monitoring system |
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| CN111959467A (en) * | 2020-08-20 | 2020-11-20 | 南京中车浦镇海泰制动设备有限公司 | Rail vehicle electromechanical braking anti-skid control system and method |
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