CN109720209A - Energy back-feed control method, system and vehicle - Google Patents
Energy back-feed control method, system and vehicle Download PDFInfo
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- CN109720209A CN109720209A CN201811634136.2A CN201811634136A CN109720209A CN 109720209 A CN109720209 A CN 109720209A CN 201811634136 A CN201811634136 A CN 201811634136A CN 109720209 A CN109720209 A CN 109720209A
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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
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- Y02T10/72—Electric energy management in electromobility
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Abstract
This application provides a kind of energy back-feed control method, system and vehicles.The energy back-feed control method includes: to judge whether motor speed is greater than the first revolving speed threshold values in vehicle braking regeneration processes；When judging that motor speed is greater than the first revolving speed threshold values, control feedback braking torque increases with the reduction of motor speed；When judging that motor speed is less than or equal to the first revolving speed threshold values, control feedback braking torque is reduced with the reduction of motor speed.In the application, when motor is in high-speed cruising, it can get larger feedback braking torque, battery can be made full use of by electric energy activity of force, feedback is high-efficient.When motor is in low-speed running, feedback braking torque can drop to smaller value, can avoid that Return moment is excessive that vehicle low speed is caused to be brought to a halt, and influence driving experience, or even cause safety problem.
Description
[technical field]
This application involves technical field of vehicle more particularly to a kind of energy back-feed control methods, system and vehicle.
[background technique]
Electric car is very rapid due to the advantages that energy utilization is high, pollution is few development.But the limitation of battery technology is still
Continual mileage is so made to become the major obstacle of Development of Electric Vehicles.The electric energy of battery storage can be converted into mechanical energy driving vehicle
Traveling；Vehicle inertia generate potential energy also can pushing motor power generation, formed energy feedback system, the phase being thusly-formed between energy
Mutually conversion.Energy feedback system can in vehicle sliding and deboost phase recovery section energy, thus can low electric car energy
Consumption, greatly improves the continual mileage of vehicle and the utilization rate of vehicle energy.
Existing electric car includes riding electric automobile and commercial electric car.Riding electric configuration of automobiles has automotive electronics
Stabilizing control system (Electronic Stability Controller, hereinafter referred to as ESC system).ESC is according to brake pedal
Aperture can calculate demand brake force, motor Return moment, while distribution machinery braking moment be calculated according to current vehicle speed, to meet
The demand braking force of brake pedal input.
However, commercial electric car is generally not configured with ESC system, it is configured with anti-blocking brake system of automobile
(antilock brake system, hereinafter referred to as ABS).ABS system can not pro rate braking moment, electric regenerative braking power
Square is only capable of giving electric machine controller execution by entire car controller calculated torque.
In the prior art, commercial electric car is stepped on by entire car controller sampling brake pedal signal, speed signal, acceleration
The signals such as partitioned signal, motor speed, battery status control feedback.When accelerator pedal aperture is zero to enter and slide or brake and step on
Plate be operated into braking when, entire car controller according to present battery feed back can be by electric energy activity of force, in conjunction with motor speed,
Pass through same formulaCurrent Return moment is calculated, Return moment reduces and gradually direct ratio increasing with motor speed
Greatly.
Return moment is gradually increased with the reduction of motor speed, and when revolving speed is lower, Return moment is very big, will lead to urgency
Brake phenomenon, and the coasting distance of vehicle is influenced, the operating range for making actual distance traveled be less than driver's anticipation is inconsistent,
User experience is reduced, safety problem is even resulted in.
It brings to a halt when to avoid low speed and guarantees coasting distance, directly define the maximum of Return moment in the prior art
Value, the Return moment maximum value need minimum setting.It is slided in feedback process in entirely braking pole, Return moment is restricted to small
In the Return moment maximum value, cause Return moment when motor speed is higher still smaller, so that feedback power is influenced,
Cause battery that cannot be made full use of by electric energy activity of force, feedback low efficiency.
[application content]
In view of this, the embodiment of the present application provides a kind of energy back-feed control method, system and vehicle, be conducive to sufficiently
Using battery by electric energy activity of force, feedback is high-efficient.
In a first aspect, providing a kind of energy back-feed control method.The energy back-feed control method includes:
In vehicle braking regeneration processes, judge whether motor speed is greater than the first revolving speed threshold values；
When judge motor speed be greater than the first revolving speed threshold values when, control feedback braking torque with the reduction of motor speed and
Increase；
When judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking torque is controlled with motor speed
Reduction and reduce.
Optionally, in vehicle braking regeneration processes, judge whether motor speed is less than or equal to the second revolving speed threshold values,
Wherein the second revolving speed threshold values is less than the first revolving speed threshold values；
When judging that motor speed is less than or equal to the second revolving speed threshold values, stop feedback braking.
Optionally, in vehicle braking regeneration processes, when judging that motor speed is greater than the first revolving speed threshold values, control braking
Return moment linearly increases with the reduction of motor speed；
When judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking torque is controlled with motor speed
Reduction and linear reduction.
Optionally, in vehicle braking regeneration processes, when judging that motor speed is less than or equal to the first revolving speed threshold values,
Control feedback braking torqueWherein, P is battery by electric energy activity of force, and r is motor
Revolving speed；
When judging that motor speed is less than or equal to 500rpm, stop feedback braking.
Optionally, in vehicle braking regeneration processes, when judging that motor speed is greater than the first revolving speed threshold values, control braking
Return momentWherein, P is battery by electric energy activity of force, and r is motor speed.
Optionally, the first revolving speed threshold values is set as 3500rpm.
Optionally, in vehicle sliding regeneration processes, sliding Return moment is constant Return moment.
The constant Return moment is less than, feedback braking torque when motor speed is the first revolving speed threshold values.
Optionally, when detecting that brake pedal is operated, feedback braking is carried out, obtains feedback braking torque；
When detecting that revolving speed pedal opening is zero and brake pedal is not operated, carry out sliding feedback, acquisition is slided back
Present torque.
Second aspect provides a kind of energy feedback control system.The energy feedback control system includes:
First detection module, for detecting motor speed；And
Control module；The control module is configurable for:
In vehicle braking regeneration processes, judge whether the motor speed that the first detection module detects is greater than first
Revolving speed threshold values；
When judge motor speed be greater than the first revolving speed threshold values when, control feedback braking torque with the reduction of motor speed and
Increase；
When judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking torque is controlled with motor speed
Reduction and reduce.
Optionally, the control module is additionally configured to be used for:
In vehicle braking regeneration processes, judge whether motor speed is less than or equal to the second revolving speed threshold values；
When judging that motor speed is less than or equal to the second revolving speed threshold values, stop feedback braking.
Optionally, the control module is additionally configured to be used for: in vehicle sliding regeneration processes, feedback is slided in control
Torque is constant Return moment.
The third aspect provides a kind of vehicle.The vehicle includes above-mentioned energy feedback control system.
In the application, when motor is in high-speed cruising, can get larger feedback braking torque, can make full use of battery by
Electric energy activity of force, feedback are high-efficient.When motor is in low-speed running, feedback braking torque can drop to smaller value, can avoid
Return moment is excessive to cause vehicle low speed to be brought to a halt, and influences driving experience, or even cause safety problem.
When motor speed is reduced to the second revolving speed threshold values, feedback braking torque is reduced to zero, stops feedback braking.So
Control can effectively avoid when motor is when being lower than the low-speed running of the second revolving speed threshold values, and there are still feedback braking torque, Yi Mianying
Ring driving experience or the judgement of driver.
During entire feedback braking, feedback braking torque and motor speed can be calculated by piecewise function and be obtained, control
It is convenient, reliable, accurate.
Difference can be used with the Return moment that slides slided in regeneration processes in feedback braking torque during feedback braking
Method is controlled, and is enabled and is slided the smaller setting of Return moment, without limitation on the setting of feedback braking torque.
[Detailed description of the invention]
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be apparent that, the drawings in the following description are only some examples of the present application, for this field
For those of ordinary skill, without creative efforts, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the flow chart for the energy back-feed control method that a kind of embodiment of the application provides；
Fig. 2 is the flow chart for the energy back-feed control method that a kind of embodiment of the application provides；
Fig. 3 is the flow chart for the energy back-feed control method that a kind of embodiment of the application provides；
Fig. 4 is the schematic diagram for the energy feedback control system that a kind of embodiment of the application provides.
Fig. 5 is the schematic diagram for the energy feedback control system that a kind of embodiment of the application provides.
Fig. 6 is the schematic diagram for the vehicle that a kind of embodiment of the application provides.
Description of symbols:
1- energy feedback control system；
10- control module；
14- first detection module；
The second detection module of 16-；
18- third detection module；
20- execution module；
3- motor；
6- battery.
[specific embodiment]
In order to better understand the technical solution of the application, the embodiment of the present application is retouched in detail with reference to the accompanying drawing
It states.
It will be appreciated that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Base
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
Its embodiment, shall fall in the protection scope of this application.
The term used in the embodiment of the present application is only to be not intended to be limiting merely for for the purpose of describing particular embodiments
The application.In the embodiment of the present application and the "an" of singular used in the attached claims, " described " and "the"
It is also intended to including most forms, unless the context clearly indicates other meaning.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, indicate
There may be three kinds of relationships, for example, A and/or B, can indicate: individualism A, exist simultaneously A and B, individualism B these three
Situation.In addition, character "/" herein, typicallys represent the relationship that forward-backward correlation object is a kind of "or".
It should be appreciated that unless otherwise indicated, the meaning of " plurality " is two or more；Term " first ", " second ",
" third " etc. is used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance and sequence.
Depending on context, word as used in this " if " can be construed to " ... when " or " when ...
When " or " in response to determination " or " in response to detection ".Similarly, depend on context, phrase " if it is determined that " or " if detection
(condition or event of statement) " can be construed to " when determining " or " in response to determination " or " when the detection (condition of statement
Or event) when " or " in response to detection (condition or event of statement) ".
According to one embodiment of the application, a kind of energy back-feed control method is provided.Fig. 1 shows the application one kind
The energy back-feed control method of embodiment.The energy back-feed control method can be used in vehicle, for controlling energy feedback.
Referring to Fig. 1, this method includes at least step S110 and step S120.
Step S110 judges whether current motor revolving speed is greater than the first revolving speed threshold values during vehicle braking feedback.
In vehicle braking regeneration processes, the kinergety that motor generates under effect of inertia can be converted into electric energy, and deposit
Storage is in the battery.The first revolving speed threshold values in the step can according to need selection setting.
Step S120, when judging that motor speed is greater than the first revolving speed threshold values, control feedback braking torque turns with motor
Speed reduction and increase.When judge motor speed be less than or equal to the first revolving speed threshold values when, control feedback braking torque with
The reduction of motor speed and reduce.
During motor speed is decreased to the first revolving speed threshold values, feedback braking torque is increasing.Motor speed reaches
When the first revolving speed threshold values, feedback braking torque is maximum.Motor speed during reduction, is braked back since the first revolving speed threshold values
It is smaller and smaller to present torque.
When motor is in high-speed cruising, feedback braking torque can increase to the larger value, battery can be made full use of by electric energy
Activity of force, feedback are high-efficient.
When motor is in low-speed running, feedback braking torque can drop to smaller value, can avoid that Return moment is excessive leads
It causes vehicle low speed to bring to a halt, influences driving experience, or even cause safety problem.
However, the inventors of the present application found that being driven when vehicle low speed is run even if lesser Return moment still will affect
The driving experience for the person of sailing or judgement.
Fig. 2 shows the flow charts for the energy back-feed control method that a kind of embodiment of the application provides.Referring to Fig. 2, should
Energy back-feed control method includes step S210 and step S120.
Step S210 judges whether current motor revolving speed is less than or equal to second turn in vehicle braking regeneration processes
Fast threshold values.Wherein, the second revolving speed threshold values is less than the first revolving speed threshold values.
Step S220 stops feedback braking when judging that motor speed is less than or equal to the second revolving speed threshold values.
During feedback braking, the braking process of the second revolving speed threshold values is reduced to from the first revolving speed threshold values in motor speed
In, feedback braking torque is smaller and smaller.When motor speed is reduced to the second revolving speed threshold values, feedback braking torque is reduced to zero,
Stop feedback braking.So control can effectively avoid when motor is when being lower than the low-speed running of the second revolving speed threshold values, and there are still systems
Dynamic Return moment, in order to avoid influence driving experience or the judgement of driver.
To avoid feedback braking torque from producing bigger effect vehicle speed, feedback braking torque should linear change as far as possible.
Accordingly, when judge motor speed be greater than the first revolving speed threshold values when, control feedback braking torque with the reduction of motor speed and
It is linear to increase.When judging that motor speed is less than or equal to the first revolving speed threshold values, control feedback braking torque turns with motor
Speed reduction and linear reduction.
The control method of feedback braking torque, motor speed are equal to less than first when motor speed is greater than the first revolving speed threshold values
The control method of feedback braking torque can be used multiple groups different functions and calculate realization when revolving speed threshold values.
In a kind of optional example, when judging that motor speed is greater than the first revolving speed threshold values, feedback braking torque is controlledWherein, P is battery by electric energy activity of force, and r is current motor revolving speed.
When motor speed is greater than the first revolving speed threshold values, the control method of feedback braking torque uses this exemplary controlling party
Method, controllable feedback braking torque increase with the reduction of motor speed.
In a kind of optional example, when judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking is controlled
TorqueWherein, P is battery by electric energy activity of force, and r is current motor revolving speed.
In this example, the second revolving speed threshold values is set to 500rpm.When judge motor speed be less than or equal to 500rpm
When, stop feedback braking.
When motor speed is equal to or less than the first revolving speed threshold values, the control method of feedback braking torque uses this exemplary control
Method processed, controllable feedback braking torque are reduced with the reduction of motor speed.
Any one above-mentioned example or simultaneously two examples can be used in the embodiment of the present application.
The application is further described using a kind of above-mentioned two exemplary embodiment simultaneously below.
During entire feedback braking, feedback braking torque and motor speed can be calculated by piecewise function and be obtained:
Wherein, T is feedback braking torque, and P is battery by electric energy activity of force, and r is motor speed.
In this control method, the first revolving speed threshold value setting is 3500rpm, and the second revolving speed threshold value setting is 500rpm.
When judging that motor speed meets r > 3500rpm, using functionControl feedback braking can be achieved
Torque increases with the reduction of motor speed.
When judging that current motor revolving speed meets 500rpm≤r3500rpm, using function Control feedback braking torque can be achieved to be reduced with the reduction of motor speed.Work as electricity
When machine revolving speed reduces to 3500rpm, feedback braking moment variations are smaller, prevent from impacting vehicle driving.
When judging that current motor revolving speed meets 0≤r < 500rpm, T=0 stops feedback braking, thoroughly prevents to influence to drive
The driving experience for the person of sailing or judgement.
It should be noted that the battery in the present embodiment is by electric energy activity of force P, it is the numerical value in input system.Battery
It is fed back and is obtained by battery by electric energy activity of force P, such as it can reflect battery maximum charge power, can specifically integrate each feature of battery
It calculates, analysis obtains or is obtained by other methods.
However, present inventor also found, in the prior art, release the gas pedal initially enters to be entered when sliding
Feedback is slided, slides feedback as the reduction of motor speed will increase to very big Return moment value, and biggish Return moment meeting
Coasting distance is influenced, practical coasting distance is made to be less than the coasting distance of driver's anticipation, user experience is reduced, even results in safety
Problem.And if worry to slide the excessive influence user of feedback and slide experience, it is relatively low to the maximum value limit value of Return moment, then influence
The feedback braking torque obtained using same control method, causes to make full use of battery by electric energy power function in braking process
Rate influences feedback efficiency.
Fig. 3 shows the flow chart for the energy back-feed control method that a kind of embodiment of the application provides.Referring to Fig. 2, should
Energy back-feed control method further includes step S310, and in vehicle sliding regeneration processes, the torque for sliding feedback is constant feedback
Torque.The constant Return moment can select to set as needed, can smaller setting, be able to achieve small torque slides feedback.
In the entire taxiing procedures of vehicle, Return moment is slided using constant smaller Return moment, to coasting distance
Influence is smaller, and the coasting distance for making practical coasting distance be less than driver's anticipation is about consistent, and the user experience is improved, avoids leading
Cause safety problem.
In conjunction with shown in Fig. 1 and Fig. 3, feedback braking torque during feedback braking and sliding back in regeneration processes is slided
Feedback torque can be used different calculation methods and be controlled, and enables and slides the smaller setting of Return moment, without limitation on feedback braking
Torque.
The constant Return moment slided in regeneration processes is smaller than, feedback braking when motor speed is the first revolving speed threshold values
Torque.For example, the constant Return moment slided in regeneration processes can be 10Nm.
For that can obtain feedback braking torque respectively and slide Return moment, in a kind of example, when detecting brake pedal quilt
When stepping on, feedback braking is carried out, obtains feedback braking torque.For example, above-mentioned piecewise function meter can be used in the feedback braking torque
It calculates and obtains.
When detecting that revolving speed pedal opening is zero and brake pedal is not operated, carry out sliding feedback, acquisition is slided back
Present torque.For example, this, which slides Return moment, can be used above-mentioned lesser constant Return moment.
Based on the same inventive concept, one embodiment of the application provides a kind of energy feedback control system.Fig. 4 is shown
The schematic diagram for the energy feedback control system that a kind of embodiment of the application provides.
Referring to Fig. 4, the energy feedback control system 1 includes at least first detection module 14 and control module 10.First
Detection module 14 is for detecting motor speed.
Control module 10 is used for: in vehicle braking regeneration processes, judging the electricity that the first detection module 14 detects
Whether machine revolving speed is greater than the first revolving speed threshold values；Also,
When judge motor speed be greater than the first revolving speed threshold values when, control feedback braking torque with the reduction of motor speed and
Increase；When judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking torque is controlled with motor speed
Reduce and reduces.
Based on the same inventive concept, control module 10 can also be used in: in vehicle braking regeneration processes, judge current motor
Whether revolving speed is less than or equal to the second revolving speed threshold values；When judging that motor speed is less than or equal to the second revolving speed threshold values, stop
Only feedback braking.
Based on the same inventive concept, control module 10 can also be used in: in vehicle sliding regeneration processes, feedback is slided in control
Torque be constant Return moment.
Fig. 5 shows the schematic diagram for the energy feedback control system that a kind of embodiment of the application provides.Referring to Fig. 5, should
Energy feedback control system 1 can also include the second detection module 16, third detection module 18 and execution module 20.Second detection
Module 16 is for detecting whether brake pedal is operated.Third detection module 18 is for detecting whether revolving speed pedal opening is zero.
Control module 10 can carry out feedback braking according to above-mentioned control method or slide feedback, obtain specific Return moment
Value.According to the specific Return moment value that control module 10 inputs, specific Return moment is can be performed in execution module 20.For example, control
Device may include entire car controller etc., and execution module 20 may include electric machine controller etc..
Based on the same inventive concept, one embodiment of the application provides a kind of vehicle.Fig. 6 shows the application one kind
The schematic diagram for the vehicle that embodiment provides.
Referring to Fig. 6, the vehicle includes above-mentioned energy feedback control system 1, motor 3 and battery 6.It is braking or is sliding
During row, execution module 20 executes Return moment, converts electric energy for the kinergety of motor 3, and be stored in battery 6.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or group
Part can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown
Or the mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, device or unit it is indirect
Coupling or communication connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The foregoing is merely the preferred embodiments of the application, not to limit the application, all essences in the application
Within mind and principle, any modification, equivalent substitution, improvement and etc. done be should be included within the scope of the application protection.
Claims (12)
1. a kind of energy back-feed control method characterized by comprising
In vehicle braking regeneration processes, judge whether motor speed is greater than the first revolving speed threshold values；
When judging that motor speed is greater than the first revolving speed threshold values, control feedback braking torque increases with the reduction of motor speed
Greatly；
When judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking torque subtracting with motor speed is controlled
It is small and reduce.
2. energy back-feed control method according to claim 1, which is characterized in that in vehicle braking regeneration processes, sentence
Whether power machine revolving speed is less than or equal to the second revolving speed threshold values, wherein the second revolving speed threshold values is less than the first revolving speed valve
Value；
When judging that motor speed is less than or equal to the second revolving speed threshold values, stop feedback braking.
3. energy back-feed control method according to claim 1, which is characterized in that in vehicle braking regeneration processes, when
When judging that motor speed is greater than the first revolving speed threshold values, control feedback braking torque linearly increases with the reduction of motor speed；
When judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking torque subtracting with motor speed is controlled
Small and linear reduction.
4. energy back-feed control method according to claim 1, which is characterized in that in vehicle braking regeneration processes, when
When judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking torque is controlled Wherein, P is battery by electric energy activity of force, and r is motor speed；
When judging that motor speed is less than or equal to 500rpm, stop feedback braking.
5. energy back-feed control method according to claim 1, which is characterized in that in vehicle braking regeneration processes, when
When judging that motor speed is greater than the first revolving speed threshold values, feedback braking torque is controlledWherein, P is battery by electric energy
Activity of force, r are motor speed.
6. energy back-feed control method according to claim 1, which is characterized in that the first revolving speed threshold values is set as
3500rpm。
7. energy back-feed control method according to claim 1, which is characterized in that sliding in vehicle sliding regeneration processes
Row Return moment is constant Return moment.
The constant Return moment is less than, feedback braking torque when motor speed is the first revolving speed threshold values.
8. energy back-feed control method described in any one of -7 according to claim 1, which is characterized in that when detecting that braking steps on
When plate is operated, feedback braking is carried out, obtains feedback braking torque；
When detecting that revolving speed pedal opening is zero and brake pedal is not operated, carry out sliding feedback, feedback force is slided in acquisition
Square.
9. a kind of energy feedback control system characterized by comprising
First detection module, for detecting motor speed；And
Control module；The control module is configurable for:
In vehicle braking regeneration processes, judge whether the motor speed that the first detection module detects is greater than the first revolving speed
Threshold values；
When judging that motor speed is greater than the first revolving speed threshold values, control feedback braking torque increases with the reduction of motor speed
Greatly；
When judging that motor speed is less than or equal to the first revolving speed threshold values, feedback braking torque subtracting with motor speed is controlled
It is small and reduce.
10. energy feedback control system according to claim 9, which is characterized in that the control module is additionally configured to
For:
In vehicle braking regeneration processes, judge whether motor speed is less than or equal to the second revolving speed threshold values；
When judging that motor speed is less than or equal to the second revolving speed threshold values, stop feedback braking.
11. energy feedback control system according to claim 9, which is characterized in that the control module is additionally configured to
For: in vehicle sliding regeneration processes, the torque that feedback is slided in control is constant Return moment.
12. a kind of vehicle, which is characterized in that control system including the energy feedback according to any one of claims 9-11
System.
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