本文分析了煤矿下运带式输送机制动技术的现状及存在问题，应用动态设计的方法得出了优化制动曲线。

The state of braking technique for downward belt conveyor is analyzed. With the dynamic design method, the optimized braking curve was obtained.

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拐点是制动曲线的三阶导数，它的物理意义和冲动不谋而合，这也是本文在防滑器控制模型中引入冲动物理量的原因之一。

The inflexion is the second differential of the speed curve and the physical meaning is the same to the jerk, so the jerk is introduced into the control model of anti-skid system.

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针对月球探测器垂直软着陆过程，基于耗燃最优的原则，利用最优化理论确定了点火切换曲线。设计出一种制动方案。

Based on minimal fuel principle, the switching curve of ignition is confirmed by using optimization theory, and a braking scheme is designed for the process of the lunar probe vertical soft landing.

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