CN-116834707-B - Rail vehicle braking force distribution method and device, vehicle and storage medium

CN116834707BCN 116834707 BCN116834707 BCN 116834707BCN-116834707-B

Abstract

The invention provides a method and a device for distributing braking force of a railway vehicle, the vehicle and a storage medium. The method comprises the steps of calculating target braking force required by a vehicle according to braking parameters of the vehicle, determining electric braking force fed back by a traction control unit of the vehicle, calculating first air braking force required to be applied to each bogie according to the target braking force, the electric braking force and corresponding load of each bogie when the target braking force is larger than the electric braking force, and dynamically distributing the air braking force required to be applied to the ith bogie to obtain the air braking force of the ith bogie when the air braking force required to be applied to the kth bogie is unavailable or exceeds the air braking force required to be applied when the maximum adhesive force of wheels of the kth bogie. The invention can solve the problem of vehicle sliding caused by the fixed braking force distribution of the small axle load transferred among the steering frames.

Inventors

LI HUAMING
LI SHUO
LIU CHAOJUN
GAO SHAN
ZHANG XINGWANG
YU HAIQING
YE SICONG
FENG XIAOBIN

Assignees

中车唐山机车车辆有限公司

Dates

Publication Date: 20260505
Application Date: 20230619

Claims (9)

1. A method of distributing a braking force of a rail vehicle, comprising: calculating a target braking force required by the vehicle according to the braking parameters of the vehicle; determining an electric braking force fed back by a traction control unit of the vehicle; when the target braking force is larger than the electric braking force, acquiring the load born by each bogie in real time, and calculating the first air braking force required to be applied by each bogie according to the target braking force, the electric braking force and the load corresponding to each bogie; If the air brake of the kth bogie is unavailable or the first air brake force required to be applied exceeds the air brake force when the maximum adhesive force of the wheels of the vehicle is exceeded, dynamically distributing the air brake force required to be applied by the kth bogie to the ith bogie to obtain the air brake force of the ith bogie, wherein the ith bogie is the bogie with available air brake of the same carriage or the air brake force when the air brake force does not exceed the maximum adhesive force of the wheels of the vehicle, and k is equal to or greater than a positive integer of 1; when a preset number of brake discs are arranged on the shaft of the bogie, the method further comprises: Determining the number of brake discs of foundation braking participated in the current bogie according to the air braking force of the current bogie, the number of brake discs configured on each shaft of the current bogie and the proportion of the foundation braking participated in; calculating the theoretical parking time of the vehicle according to the speed of the vehicle and the braking level sent by the driver controller; And if the actual braking time is greater than or equal to the theoretical parking time, performing foundation braking switching on the brake disc which is currently involved in foundation braking and the brake disc which is not involved in foundation braking.
2. The method for distributing braking force of a rail vehicle according to claim 1, wherein if the air brake of the kth bogie is not available or the first air brake force to be applied exceeds the air brake force when the maximum adhesion force of the wheels of the vehicle is exceeded, dynamically distributing the air brake force to be applied by the kth bogie to the ith bogie to obtain the air brake force of the ith bogie, comprising: If the air brake of the kth bogie is not available, calculating a second air brake force distributed on the ith bogie by the air brake force of the kth bogie according to the target brake force, the electric brake force, the load corresponding to the kth bogie and the load corresponding to the ith bogie, wherein the ith bogie is an available bogie; And calculating the sum of the first air braking force and the second air braking force, wherein the sum is taken as the air braking force of the ith bogie.
3. The method for distributing braking force of a rail vehicle according to claim 1, wherein if the air brake of the kth bogie is not available or the first air brake force to be applied exceeds the air brake force when the maximum adhesion force of the wheels of the vehicle is exceeded, dynamically distributing the air brake force to be applied by the kth bogie to the ith bogie to obtain the air brake force of the ith bogie, comprising: If the first air braking force required to be applied by the kth bogie exceeds the air braking force when the maximum adhesive force of the wheels of the kth bogie is exceeded, calculating the exceeded braking force; Calculating a third air braking force distributed on an ith bogie by the air braking force of the kth bogie according to the exceeded braking force, the target braking force, the electric braking force, the load corresponding to the kth bogie and the load corresponding to the ith bogie, wherein the ith bogie is a bogie which is required to apply the air braking force when the first air braking force does not exceed the maximum adhesive force of wheels of the ith bogie; And calculating the sum of the first air braking force and the third air braking force, wherein the sum is taken as the air braking force of the ith bogie.
4. The method for distributing braking force of a railway vehicle according to claim 2, wherein calculating the first air braking force to be applied by each bogie based on the target braking force, the electric braking force, and the load corresponding to each bogie comprises: According to Calculating a first air braking force to be applied by each bogie; Wherein, the Indicating that the i-th bogie needs to apply a first air brake force, The target braking force is indicated and the target braking force, Represents the electric braking force of the vehicle, Representing the load that the ith bogie is taking in real time, Indicating the weight of the whole vehicle; calculating a second air brake force distributed on the ith bogie by the air brake force of the kth bogie, comprising: According to Calculating a second air braking force distributed on the ith bogie by the air braking force of the kth bogie; Wherein, the Representing the second air brake force that the air brake force of the kth bogie distributes over the ith bogie, Representing the load carried by the kth bogie in real time.
5. The method for distributing braking force of a railway vehicle according to any one of claims 1 to 4, wherein if the actual braking time is greater than or equal to the theoretical parking time, performing foundation braking switching between a brake disc currently participating in foundation braking and a brake disc not participating in foundation braking, comprises: If the actual braking time is greater than or equal to the theoretical parking time, receiving a switching control signal sent by a BCU, reducing the air braking force of N brake discs currently participating in basic braking according to a preset slope, and simultaneously applying the air braking force of N brake discs to be participating in braking according to the preset slope until the switching of the brake discs is completed, wherein N is a positive integer greater than or equal to 1; Or switching the N brake discs participating in basic braking with the N brake discs to be braked according to a preset time interval.
6. The method of distributing rail vehicle braking forces according to any one of claims 1 to 4, further comprising: monitoring an actual deceleration of the vehicle after the brake is applied, and calculating a deceleration rate according to a target deceleration and the actual deceleration; When the deceleration change rate is greater than or equal to a first preset value, increasing air braking force on the basis of the currently adopted air braking force, and adopting the updated fourth air braking force to perform air braking; When the deceleration change rate is larger than or equal to a second preset value and smaller than the first preset value, keeping the currently adopted air braking force unchanged; and when the deceleration change rate is smaller than the second preset value, reducing the air braking force on the basis of the currently adopted air braking force, and adopting the updated fifth air braking force to perform air braking.
7. A railway vehicle braking force distribution device, characterized by comprising: the calculation module is used for calculating target braking force required by the vehicle according to the braking parameters of the vehicle; the receiving module is used for determining the electric braking force fed back by the traction control unit of the vehicle; The calculation module is further used for acquiring the load born by each bogie in real time when the target braking force is larger than the electric braking force, and calculating the first air braking force required to be applied by each bogie according to the target braking force, the electric braking force and the load corresponding to each bogie; The braking force distribution module is used for dynamically distributing the air braking force required to be applied to the ith bogie to obtain the air braking force of the ith bogie if the air braking of the kth bogie is unavailable or the first air braking force required to be applied exceeds the air braking force required to be applied by the maximum adhesive force of the wheels of the ith bogie, wherein the ith bogie is the bogie with the air braking available of the same carriage or the air braking force required to be applied by the air braking force not exceeding the maximum adhesive force of the wheels of the ith bogie, and k is a positive integer greater than or equal to 1; The calculation module is also used for determining the number of brake discs of the foundation brake participated in the current bogie according to the air braking force of the current bogie, the number of brake discs arranged on each shaft of the current bogie and the proportion of the foundation brake participated in when the preset number of brake discs are arranged on the shaft of the bogie; and the braking force distribution module is also used for switching the foundation braking between the brake disc which is currently involved in the foundation braking and the brake disc which is not involved in the foundation braking if the actual braking time is greater than or equal to the theoretical parking time.
8. A vehicle comprising an electronic device, the electronic device comprising a memory for storing a computer program and a processor for calling and running the computer program stored in the memory, characterized in that the processor, when executing the computer program, realizes the steps of the method of distributing rail vehicle braking forces as claimed in any one of the preceding claims 1 to 6.
9. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor realizes the steps of the method of distributing rail vehicle braking forces according to any of the preceding claims 1 to 6.

Description

Rail vehicle braking force distribution method and device, vehicle and storage medium Technical Field The present invention relates to the field of braking force distribution technologies, and in particular, to a method and apparatus for distributing braking force of a railway vehicle, a vehicle, and a storage medium. Background With the improvement of power battery technology, more and more railway vehicles adopt power batteries as power supplies. Along with the large-scale development of track construction, tracks are also constructed in multiple areas with complex environments, and the complex lines also put higher demands on the design of vehicles. Currently, most of the distribution methods of braking force in railway vehicles basically adopt equal adhesion or equal abrasion strategies, electric braking is used preferentially, air braking is used secondarily, and the difference between the two is that the distribution of the air braking is full train average distribution and is full train vehicle sequential selection distribution. However, the above-mentioned braking force distribution method does not consider the case where the two bogies of the vehicle bear different weights, and when the two bogies bear different weights in the braking force distribution process, the front wheel braking force of the vehicle is insufficient, the braking force of the rear wheel is larger, and the rear wheel slides. Disclosure of Invention The embodiment of the invention provides a method and a device for distributing braking force of a railway vehicle, the vehicle and a storage medium, and aims to solve the problem that in the prior art, the vehicle slides due to axle load transfer during braking force distribution. In a first aspect, an embodiment of the present invention provides a method for distributing braking force of a rail vehicle, including: calculating a target braking force required by the vehicle according to the braking parameters of the vehicle; determining an electric braking force fed back by a traction control unit of the vehicle; when the target braking force is larger than the electric braking force, acquiring the load born by each bogie in real time, and calculating the first air braking force required to be applied by each bogie according to the target braking force, the electric braking force and the load corresponding to each bogie; And if the air brake of the kth bogie is unavailable or the first air brake force required to be applied exceeds the air brake force when the maximum adhesive force of the wheels is exceeded, dynamically distributing the air brake force required to be applied by the kth bogie to the ith bogie to obtain the air brake force of the ith bogie, wherein the ith bogie is a bogie with available air brake of the same carriage or the air brake force not exceeding the air brake force when the maximum adhesive force of the wheels is exceeded, and k is equal to or greater than a positive integer of 1. In one possible implementation manner, if the air brake of the kth bogie is unavailable or the first air brake force to be applied exceeds the air brake force when the maximum adhesion force of the wheels of the vehicle is exceeded, dynamically distributing the air brake force to be applied by the kth bogie to the ith bogie to obtain the air brake force of the ith bogie, including: If the air brake of the kth bogie is not available, calculating a second air brake force distributed on the ith bogie by the air brake force of the kth bogie according to the target brake force, the electric brake force, the load corresponding to the kth bogie and the load corresponding to the ith bogie, wherein the ith bogie is an available bogie; And calculating the sum of the first air braking force and the second air braking force, wherein the sum is taken as the air braking force of the ith bogie. In one possible implementation manner, if the air brake of the kth bogie is unavailable or the first air brake force to be applied exceeds the air brake force when the maximum adhesion force of the wheels of the vehicle is exceeded, dynamically distributing the air brake force to be applied by the kth bogie to the ith bogie to obtain the air brake force of the ith bogie, including: If the first air braking force required to be applied by the kth bogie exceeds the air braking force when the maximum adhesive force of the wheels of the kth bogie is exceeded, calculating the exceeded braking force; Calculating a third air braking force distributed on an ith bogie by the air braking force of the kth bogie according to the exceeded braking force, the target braking force, the electric braking force, the load corresponding to the kth bogie and the load corresponding to the ith bogie, wherein the ith bogie is a bogie which is required to apply the air braking force when the first air braking force does not exceed the maximum adhesive force of wheels of the ith bogie; And calculating the sum of the first air braking