利用轮胎力观测器实现对轮胎力的观测：利用制动轮缸压力估算值计算制动器制动力；
Tire force was observed using tire force observer: the estimated brake wheel cylinder pressure was used to calculate brake force;
对领从蹄式鼓式制动器制动力矩的效能因数法几种常用的计算公式进行了分析及计算验证。
In this paper, the formulae for calculating braking torque of leading shoe and trailing shoe brake are analyzed.
介绍用常规测试仪表，测定起重制动器制动力矩变化率的方法，并对测定原理、数据处理作了说明。
The measurement method for braking moment variation rate of hoist mechanism with traditional instruments is introduced and its principle and data processing are described.
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