CN104527437B - Energy back-feed control method and its control system of the electric motor car with multiple-speed gearbox - Google Patents
Energy back-feed control method and its control system of the electric motor car with multiple-speed gearbox Download PDFInfo
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- CN104527437B CN104527437B CN201410742288.XA CN201410742288A CN104527437B CN 104527437 B CN104527437 B CN 104527437B CN 201410742288 A CN201410742288 A CN 201410742288A CN 104527437 B CN104527437 B CN 104527437B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
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Abstract
The present invention proposes energy back-feed control method and its control system of a kind of electric motor car with multiple-speed gearbox, by brake pedal sensor, accelerator pedal sensor, vehicle speed sensor and electromechanical transducer are by brake signal, signal for faster, speed, motor output situation is delivered to energy feedback control device, energy feedback control device judges whether to energy feedback according to the information for receiving, if desired for carrying out energy feedback, then energy feedback control device carries out energy feedback according to the data of electric machine controller real-time Communication for Power, energy feedback control device will be stored in energy-storage system by conduction device after energy regenerating.Present invention achieves the energy feedback of the electric motor car with multiple-speed gearbox, for different gears, the different situations that vehicle is in carry out energy feedback, achieve energy recovery rate maximization, and do not affect vehicle comfort, while energy back feed device of the electric motor car that realizes also without motor is increased with multiple-speed gearbox.
Description
Technical field
The present invention relates to electric vehicle energy feedback field, and in particular to a kind of energy feedback of electric motor car with multiple-speed gearbox
Control method and its control system.
Background technology
At present, in the case where multiple-speed gearbox is not used, electric motor car is wished to drive to the demand of motor for electric motor car
Motor has high pulling torque, high rotating speed, the characteristic of high efficiency wide ranges, with the development of electric motor car, the performance of motor is got over
Come higher, motor design and manufacture cost remain high, begin to use multiple-speed gearbox in some field electric motor cars, multistage change
The use of fast case can reduce performance requirement of the vehicle to motor, so as to control cost, multiple-speed gearbox use so that
Electric motor car has multiple driving gearratios, will necessarily run into energy when energy feedback is carried out to the electric motor car with multiple-speed gearbox
Feedback causes vehicle to have different deceleration in different gears, so as to lose comfort so that maximizes in energy feedback rate and drives
Sail.
Content of the invention
In order to overcome defect present in above-mentioned prior art, it is an object of the invention to provide multistage change is matched somebody with somebody in a kind of electric motor car
The energy back-feed control method of fast case, realizes that the energy feedback rate of recovery is maximized and driving comfort sexual balance.
In order to realize the above-mentioned purpose of the present invention, the invention provides a kind of energy feedback of electric motor car with multiple-speed gearbox
Control method, the method comprise the steps：S1, energy feedback control device are passed by brake pedal sensor, accelerator pedal
Detection braking signal, signal for faster, speed and motor are exported feelings by sensor, vehicle speed sensor and electromechanical transducer in real time
Condition, when wherein having brake signal, signal for faster is invalid, and energy feedback control device is real-time by CAN with electric machine controller
Communication, is preset with base speed backoff values A, energy feedback the max speed, each gear feedback moment of torsion in energy feedback control device
Value X, energy feedback coefficient a and each gear regenerative braking set amount y；S2, energy feedback control device judge currently whether have
Brake signal, if nothing, proceeds to step S3；If having, judge be brake signal be high level signal or low level signal, if
For low level signal, energy feedback control device then cancels energy feedback；If high level signal, then proceed to step S4；S3, energy
By the motor output situation, brake signal, signal for faster for receiving, amount feedback control device judges whether motor slides, meanwhile,
Motor speed n is sent to energy feedback control device by electric machine controller, and whether energy feedback control device judges motor speed n
Less than base speed backoff values A, if both of which is, by formula：Energy feedback amount=X*A carries out energy feedback, and wherein X is turned round for feedback
Square value, then proceeds to step S8；If there is any one to be unsatisfactory for, energy feedback is invalid；S4, energy feedback control device is to electricity
Machine controller sends energy feedback request, and motor speed n is sent to energy feedback control device by electric machine controller；S5, energy
Feedback control device judges the size of motor speed n and base speed feedback value A, if motor speed n ＜ bases speed feedback value A, does not carry out shelves
Position judges that energy feedback control device presses formula：Energy feedback amount=X*A carries out energy feedback, and wherein X is feedback torque value,
Then step S8 is proceeded to；If motor speed n ＞ bases speed feedback value A, proceeds to step S6；S6, energy feedback control device are utilized
The vehicle velocity V for receiving and motor speed n calculate gearratio, judge the concrete gear that current gearshift mechanism is located, determine the gear
Regenerative braking set amount y；S7, concrete gear of the energy feedback control device as residing for shifter carry out energy regenerating, specifically
Formula is energy feedback amount=a*X*V*y, and wherein, a is energy feedback coefficient, and X is feedback torque value, and V is speed, and y is gear
Regenerative braking set amount；S8, energy feedback control device will be stored in energy-storage system by conduction device after energy regenerating.
The various running conditions that vehicle is in are included in wherein by said method, it is achieved that the energy feedback rate of recovery
Maximization, while also ensure that the requirement of driver comfort.
Preferably, base speed backoff values A are 500rpm.
Preferably, step S6 includes：S61. energy feedback control device by the vehicle velocity V for receiving and motor speed n by V*
103/ n formula calculate gear ratio value, judge the concrete gear that shifter is located, and specifically judge as follows：Work as V*103/n≤
7.8, judge that now shifter is in one grade or reverse gear, 7.8 ＜ V*103/ n≤12.5, judge that now shifter is in two
Shelves, 12.5 ＜ V*103/ n≤17.9, judge that now shifter is in third gear, 17.9 ＜ V*103/ n≤25.7, judge now to change
Gear mechanism is in fourth gear, V*103/ n ＞ 25.7, judge that now shifter is in neutral gear, when vehicle velocity V is more than energy feedback maximum
During speed, affiliated gear is calculated by energy feedback the max speed；S62. the gear according to residing for shifter obtains the gear and returns
Feedback braking set amount, specific as follows：When shifter is in one grade or reverse gear, gear regenerative braking set amount y=d, when
When shifter is in two grades, gear regenerative braking set amount y=e, when shifter is in third gear, the gear feedback system
Dynamic set amount y=f, when shifter is in fourth gear, gear regenerative braking set amount y=g, when shifter is in neutral gear
When, not feedback energy, gear regenerative braking set amount y=0, wherein, d<e<f<G and d, e, f, g are more than 0 and less than 1
Positive number.
For the regenerative braking set amount y that specific multiple-speed gearbox electric motor car sets each gear, further achieve
The maximization of energy recovery rate, while and set most feedback the max speed, with ensure when energy feedback is carried out ensure drive
Comfortableness.
The invention allows for a kind of energy feedback control system of electric motor car with multiple-speed gearbox, passes including brake pedal
Sensor, accelerator pedal sensor, vehicle speed sensor, electromechanical transducer, electric machine controller, energy feedback control device, conduction dress
Put and energy-storage system, wherein, brake pedal sensor, accelerator pedal sensor, vehicle speed sensor and electromechanical transducer are respectively
It is connected with energy feedback control device, the energy feedback control device is with electric machine controller by CAN real-time Communication for Power, electricity
Machine controller and motor connection, the electric machine controller other end connect the energy-storage system,
Brake signal, acceleration are believed by brake pedal sensor, accelerator pedal sensor, vehicle speed sensor and electromechanical transducer
Number, speed, motor output situation be delivered to energy feedback control device, energy feedback control device is according to the information judgement for receiving
Whether energy feedback is carried out, if desired for energy feedback is carried out, then energy feedback control device is according to leading to electric machine controller in real time
The data of letter carry out energy feedback, and energy feedback control device will be stored in energy-storage system by conduction device after energy regenerating.
The invention has the beneficial effects as follows：The energy feedback that electric motor car with multiple-speed gearbox is achieved by such scheme,
For different gears, the different situations that vehicle is in carry out energy feedback, it is achieved that energy recovery rate is maximized, and does not affect car
Comfort, while energy back feed device of the electric motor car that realizes also without motor is increased with multiple-speed gearbox.
The additional aspect and advantage of the present invention will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from the description with reference to accompanying drawings below to embodiment
Substantially and easy to understand, wherein：
Fig. 1 is the theory diagram of the present invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, unless otherwise prescribed and limit, it should be noted that term " installation ", " being connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connected or electrical connection, or the connection of two element internals, can
Being to be joined directly together, it is also possible to be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
As shown in figure 1, the invention provides a kind of energy back-feed control method of electric motor car with multiple-speed gearbox, the method
Including：
S1, energy feedback control device pass through brake pedal sensor, accelerator pedal sensor, vehicle speed sensor and electricity
Detection braking signal, signal for faster, speed and motor are exported situation by machine sensor in real time, when wherein having brake signal, plus
Fast invalidating signal, energy feedback control device pass through CAN real-time Communication for Power with electric machine controller, in energy feedback control device
It is preset with base speed backoff values A, energy feedback the max speed, each gear feedback torque value X, energy feedback coefficient a and each
Gear regenerative braking set amount y.
S2, energy feedback control device judge currently whether there is brake signal, if nothing, proceed to step S3；If having, sentence
Disconnected be brake signal be high level signal or low level signal, if low level signal, energy feedback control device is then cancelled
Energy feedback；If high level signal, then proceed to step S4；
By the motor output situation, brake signal, signal for faster for receiving, S3, energy feedback control device judge that motor is
No slide, specific determination methods can adopt the existing method for judging whether to slide, meanwhile, electric machine controller is by motor speed
N is sent to energy feedback control device, and whether energy feedback control device judges motor speed n less than base speed backoff values A, if two
Person is then to press formula：Energy feedback amount=X*A carries out energy feedback, and wherein X is feedback torque value, then proceeds to step S8；
If there is any one to be unsatisfactory for, energy feedback is invalid；
S4, energy feedback control device send energy feedback request to electric machine controller, and electric machine controller is by motor speed n
It is sent to energy feedback control device.
S5, feedback control device judge the size of motor speed n and base speed feedback value A, if motor speed n ＜ bases speed feedback value A,
Gear judgement is not then carried out, and energy feedback control device presses formula：Energy feedback amount=X*A carries out energy feedback, and wherein X is back
Feedback torque value, then proceeds to step S8；If motor speed n ＞ bases speed feedback value A, proceeds to step S6.
S6. energy feedback control device calculates gearratio using the vehicle velocity V and motor speed n that receive, judges currently to change
The concrete gear that gear mechanism is located, determines gear regenerative braking set amount y.
S7, concrete gear of the energy feedback control device as residing for shifter carry out energy regenerating, and concrete formula is energy
Amount feedback amount=a*X*V*y, wherein, a is energy feedback coefficient, and X is feedback torque value, and V is speed, and y is gear regenerative braking
Set amount.
S8, energy feedback control device will be stored in energy-storage system by conduction device after energy regenerating.
In the present embodiment, base speed backoff values A, energy feedback the max speed, each gear feedback torque value X, energy feedback
Coefficient a and each gear regenerative braking set amount y are set in advance in energy feedback control device, and specific establishing method can
Setting with reference to relevant parameter in prior art.
When vehicle brakeless signal, if motor in slide and motor speed be less than base speed backoff values A, then this
When energy feedback effectively, energy feedback amount=X*A, if motor speed has been higher than base speed backoff values A, then now energy feedback
Invalid.
When vehicle has brake signal, energy feedback control device judges that brake signal is high level or low level, its
In low level brake signal be energy feedback be input into cancel message, if carrying out energy feedback before this, then receive
Stop energy feedback after the low level brake signal；
If the brake signal of high level, then current vehicle speed V that now obtained according to energy feedback control device and
Motor speed n judges gear residing for current gearshift mechanism to obtain the regenerative braking set amount y of current gear, wherein current vehicle
Fast V can be obtained by vehicle speed sensor, and motor speed n is obtained with electric machine controller real-time Communication for Power by energy feedback controller.
After obtaining the regenerative braking set amount y of current gear, energy feedback control device presses formula：Energy feedback amount=a*
X*V*y carries out energy regenerating, and wherein, a is energy feedback coefficient, and X is feedback torque value, and V is speed, and y is gear regenerative braking
Set amount；Energy feedback control device will be stored in energy-storage system by conduction device after energy regenerating, is realized power potential energy
Or kinetic energy is converted into chemical energy and stores.
Here energy regenerating can also be followed by load, such as air-conditioning, illuminating lamp etc., for vehicle provide cooling/heating or
It is Lighting Service.
Used as the preferred version of the present embodiment, under concrete condition, base speed backoff values A may be configured as 500rpm.By base speed
Backoff values A are set to the balance that 500rpm can realize that the energy feedback rate of recovery is maximized and can meet driver comfort.
In the present embodiment, step S6 includes：S61. energy feedback control device is by the vehicle velocity V for receiving and motor speed
N presses V*103/ n formula calculate gear ratio value, judge the concrete gear that shifter is located, and specifically judge as follows：Work as V*103/n
≤ 7.8, judge that now shifter is in one grade or reverse gear, 7.8 ＜ V*103/ n≤12.5, judge that now shifter is in
Two grades, 12.5 ＜ V*103/ n≤17.9, judge that now shifter is in third gear, 17.9 ＜ V*103/ n≤25.7, judge now
Shifter is in fourth gear, V*103/ n ＞ 25.7, judge that now shifter is in neutral gear, when vehicle velocity V is more than energy feedback most
During big speed, affiliated gear is calculated by energy feedback the max speed；S62. the gear according to residing for shifter obtains the gear
Regenerative braking set amount, specific as follows：When shifter is in one grade or reverse gear, gear regenerative braking set amount y=d,
When shifter is in two grades, gear regenerative braking set amount y=e, when shifter is in third gear, the gear feedback
Braking set amount y=f, when shifter is in fourth gear, gear regenerative braking set amount y=g, when shifter is in sky
During shelves, not feedback energy, gear regenerative braking set amount y=0.In the present embodiment, gear regenerative braking set amount root
Determine according to gear gearratio, the kerb weight of car and battery capacity, concrete determination method can adopt method generally used now, at this
Invent in a kind of more preferred embodiment, d<e<f<G and d, e, f, g are more than 0 and the positive number less than 1.
Gear and the gear residing for specifically above-mentioned ratio range being set according to the gearbox series of actual vehicle
Regenerative braking set amount y value.
Because vehicle will be normally at some gear in braking procedure and continue for some time, then according to above-mentioned steps
The corresponding gear residing for selector is drawn, so as to obtain the regenerative braking set amount y of corresponding gear.When speed exceedes energy feedback
During the max speed, affiliated gear is calculated by energy feedback the max speed and obtain the regenerative braking set amount of corresponding gear, in case
Only there is brake force excessive, occur driving discomfort, finally realize that the energy feedback rate of recovery is maximized mild-natured with driving comfort
Weighing apparatus.
The invention allows for a kind of energy feedback control system of electric motor car with multiple-speed gearbox, passes including brake pedal
Sensor, accelerator pedal sensor, vehicle speed sensor, electromechanical transducer, electric machine controller, energy feedback control device, conduction dress
Put and energy-storage system, wherein, brake pedal sensor, accelerator pedal sensor, vehicle speed sensor and electromechanical transducer are respectively
It is connected with energy feedback control device, the energy feedback control device is with electric machine controller by CAN real-time Communication for Power, electricity
Machine controller and motor connection, the electric machine controller other end connect the energy-storage system, and conduction device is between each device
Signal be connected conductor with electric current, specifically can adopt existing charge conduction attachment means.
Brake signal, acceleration are believed by brake pedal sensor, accelerator pedal sensor, vehicle speed sensor and electromechanical transducer
Number, speed, motor output situation be delivered to energy feedback control device, energy feedback control device is according to the information judgement for receiving
Whether energy feedback is carried out, if desired for energy feedback is carried out, then energy feedback control device is according to leading to electric machine controller in real time
The data of letter carry out energy feedback, and energy feedback control device will be stored in energy-storage system by conduction device after energy regenerating.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy described with reference to the embodiment or example
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example are necessarily referred to.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
These embodiments can be carried out with multiple changes, modification, replacement and modification in the case of the principle and objective that depart from the present invention, this
The scope of invention is limited by claim and its equivalent.
Claims (3)
1. the energy back-feed control method of multiple-speed gearbox is matched somebody with somebody in electric motor car, it is characterised in that the method comprises the steps：
S1, energy feedback control device are passed by brake pedal sensor, accelerator pedal sensor, vehicle speed sensor and motor
Detection braking signal, signal for faster, speed and motor are exported situation by sensor in real time, when wherein having brake signal, accelerate letter
Number invalid, energy feedback control device with electric machine controller by CAN real-time Communication for Power, in energy feedback control device in advance
It is set with base speed backoff values A, energy feedback the max speed, feedback torque value X, energy feedback coefficient a and each gear feedback system
Dynamic set amount y；
S2, energy feedback control device judge currently whether there is brake signal, if nothing, proceed to step S3；If having, system is judged
Dynamic signal is high level signal or low level signal, if low level signal, energy feedback control device then cancels energy and returns
Feedback；If high level signal, then proceed to step S4；
By the motor output, brake signal, signal for faster situation for receiving, S3, energy feedback control device judge whether motor is slided
OK, meanwhile, motor speed n is sent to energy feedback control device by electric machine controller, and energy feedback control device judges motor
Whether rotating speed n is less than base speed backoff values A, if both of which is, by formula：Energy feedback amount=X*A carries out energy feedback, wherein
X is feedback torque value, then proceeds to step S8；If there is any one to be unsatisfactory for, energy feedback is invalid；
S4, energy feedback control device send energy feedback request to electric machine controller, and motor speed n is sent by electric machine controller
Give energy feedback control device；
S5, energy feedback control device judge the size of motor speed n and base speed backoff values A, if the speed feedback of motor speed n ＜ bases
Value A, then do not carry out gear judgement, and energy feedback control device presses formula：Energy feedback amount=X*A carries out energy feedback, wherein X
For feedback torque value, step S8 is then proceeded to；If motor speed n ＞ bases speed backoff values A, proceed to step S6；
S6, energy feedback control device calculate gearratio using the vehicle velocity V and motor speed n for receiving, and judge current gearshift machine
The concrete gear that structure is located, determines gear regenerative braking set amount y；
S7, concrete gear of the energy feedback control device as residing for shifter carry out energy regenerating, and concrete formula is returned for energy
Feedback amount=a*X*V*y, wherein, a is energy feedback coefficient, and X is feedback torque value, and V is speed, and y is that gear regenerative braking sets
Amount；
S8, energy feedback control device will be stored in energy-storage system by conduction device after energy regenerating.
2. the energy back-feed control method of multiple-speed gearbox is matched somebody with somebody in electric motor car according to claim 1, it is characterised in that described
Base speed backoff values A are 500rpm.
3. the energy back-feed control method of multiple-speed gearbox is matched somebody with somebody in electric motor car according to claim 1, it is characterised in that step
S6 includes：
S61. energy feedback control device by the vehicle velocity V for receiving and motor speed n by V*103/ n formula calculate gear ratio value, sentence
The concrete gear that disconnected shifter is located, and specifically judge as follows：
Work as V*103/ n≤7.8, judge that now shifter is in one grade or reverse gear,
7.8 ＜ V*103/ n≤12.5, judge that now shifter is in two grades,
12.5 ＜ V*103/ n≤17.9, judge that now shifter is in third gear,
17.9 ＜ V*103/ n≤25.7, judge that now shifter is in fourth gear,
V*103/ n ＞ 25.7, judge that now shifter is in neutral gear,
When vehicle velocity V is more than energy feedback the max speed, affiliated gear is calculated by energy feedback the max speed；
S62. the gear according to residing for shifter obtains the gear regenerative braking set amount, specific as follows：
When shifter is in one grade or reverse gear, gear regenerative braking set amount y=d,
When shifter is in two grades, gear regenerative braking set amount y=e,
When shifter is in third gear, gear regenerative braking set amount y=f,
When shifter is in fourth gear, gear regenerative braking set amount y=g,
When shifter is in neutral gear, not feedback energy, gear regenerative braking set amount y=0,
Wherein, d<e<f<G and d, e, f, g are more than 0 and the positive number less than 1.
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| CN109572438B (en) * | 2017-09-29 | 2021-10-22 | 比亚迪股份有限公司 | Electric automobile and regenerative braking control method and device thereof |
| CN108275004B (en) * | 2018-02-12 | 2023-09-08 | 西安法士特汽车传动有限公司 | Energy feedback system and method for electric automobile |
| CN109466342B (en) * | 2018-11-23 | 2021-06-29 | 奇瑞新能源汽车股份有限公司 | Energy recovery control method for motor-driven manual-gear automobile during gear shifting |
| CN114103651B (en) * | 2021-11-30 | 2024-05-17 | 凯博易控车辆科技(苏州)股份有限公司 | Method for controlling recovery of brake energy of whole vehicle |
| CN114179622B (en) * | 2021-12-28 | 2023-10-20 | 三一汽车起重机械有限公司 | Braking energy feedback optimization method and device and operation machine |
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| US7104617B2 (en) * | 2002-09-06 | 2006-09-12 | Ford Motor Company | Independent braking and controllability control method and system for a vehicle with regenerative braking |
| KR20110139415A (en) * | 2010-06-23 | 2011-12-29 | 김진부 | The power generation device to be used at the electricity car |
| CN103182940B (en) * | 2013-01-03 | 2017-12-01 | 芜湖宏宇汽车电子有限责任公司 | A kind of energy feedback brake system for electric automobile |
| CN103192721B (en) * | 2013-04-25 | 2015-02-18 | 青岛理工大学 | Braking system and braking method of double-shaft driven electric vehicle |
| CN103407376B (en) * | 2013-09-06 | 2016-02-03 | 长沙理工大学 | A kind of electric drive automobile brake power recovering device |
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