CN110422043A - 一种液压辅助多轮混合驱动无人驾驶框架车 - Google Patents

一种液压辅助多轮混合驱动无人驾驶框架车 Download PDF

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CN110422043A
CN110422043A CN201910812672.5A CN201910812672A CN110422043A CN 110422043 A CN110422043 A CN 110422043A CN 201910812672 A CN201910812672 A CN 201910812672A CN 110422043 A CN110422043 A CN 110422043A
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hydraulic
vehicle
wheel
motor
driven
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曾小华
李晓建
王振伟
钱琦峰
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Jilin University
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Jilin University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/26—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the motors or the generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/28—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the electric energy storing means, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/32—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the fuel cells
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • B60K7/0015—Disposition of motor in, or adjacent to, traction wheel the motor being hydraulic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • 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
    • 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
    • Y02T90/40—Application of hydrogen technology to transportation, e.g. using fuel cells

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  • Mechanical Engineering (AREA)
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Abstract

一种液压辅助多轮混合驱动无人驾驶框架车，主要部件包括发动机、发电机、整流器、电池组、八个轮边电机、逆变器、油泵电机、离合器、变量泵、伺服阀、液压控制阀组、蓄能器、四个轮毂液压马达，使整车具有电力驱动和电力液压联合驱动两种驱动模式。当离合器分离，整车只由电力***驱动，发动机发电机组为电池组充电，电池组驱动轮边电机和油泵电机完成整车驱动、制动、转向和框架升降动作；当离合器结合，整车在电力驱动的基础上加入液压辅助驱动***，油泵电机带动变量泵驱动轮毂液压马达，提高了整车的动力性，克服了单一电力驱动***在轮边电机发生停机故障时导致整车动力性下降以至于无法完成整车爬坡和加速大功率动作的问题。

Description

一种液压辅助多轮混合驱动无人驾驶框架车
技术领域
本发明属于混合动力汽车技术领域，特别涉及一种液压辅助多轮混合驱动无人驾驶框架车。
背景技术
随着混合动力技术在车辆领域的渗透，框架车领域也越来越多的应用混合动力构型。多轮驱动混合动力框架车，具有发动机发电机组和动力电池组两个电源组件，同时通过电动机直接带动驱动轮驱动整车，具有驱动效率高、底盘布置灵活等优点，在框架运输车领域逐渐受到重视。
该构型的一个缺点就是电动机数量多导致发生停机故障的概率大，如中国专利CN204432421U，公开日为2015年7月1日，一旦轮边电机发生了停机故障，整车动力性会受到影响，在满载情况下将无法完成爬坡和加速等动力性需求大的动作，必须跛行至路边进行维修，降低作业效率，此外，整车只有动力电池组这一套能量存储组件，当电池SOC较大或者当电池组发生了严重故障，整车将无法使用再生制动，必须机械制动，造成能量浪费。本发明在多轮驱动混合动力***的基础上添加了液压辅助驱动***，当轮边电机发生了停机故障，则将液压辅助驱动***作为辅助动力源驱动整车，配合无故障轮边电机同时驱动整车，保证整车动力需求，同时，当电池SOC很大或者电池组发生严重故障的情况下制动时，可以通过液压马达回收制动能量至蓄能器内，避免了能量的浪费。
发明内容
为实现上述目的，根据本发明实施例的一种液压辅助多轮混合驱动无人驾驶框架车，采用如下技术方案：
一种液压辅助多轮混合驱动无人驾驶框架车，包括发动机、发电机、整流器、电池组、八个轮边电机、逆变器、油泵电机、离合器、变量泵、伺服阀、液压控制阀组、蓄能器、四个轮毂液压马达，使整车具有电力驱动***和液压辅助***两种驱动***；
所述的发动机与发电机固连形成发动机发电机组，发动机发电机组经过整流器与电池组、轮边电机、油泵电机电力连接，构成所述电力驱动***，其中轮边电机为整车提供驱动力矩和再生制动回收力矩，油泵电机负责整车的转向、机械制动、框架升降以及驱动液压辅助***；
所述液压辅助***，包括液压变量泵、伺服阀、液压控制阀组、蓄能器和四个轮毂液压马达；所述变量泵通过离合器与油泵电机连接，当离合器处于结合状态时，变量泵取部分油泵电机动力，通过液压能驱动轮毂液压马达转动，进而辅助整车驱动，也可以辅助整车制动，并将机械能转换为液压能存储至蓄能器中；所述伺服阀，与变量泵泵排量调解机构连接，通过阀芯位移的变化来调节变量泵排量；所述液压控制阀组与变量泵出油口连接，负责改变流入各轮毂液压马达的油液方向和流量；所述蓄能器与液压控制阀组的出油口连接，可以回收再生制动产生的液压能，并可以作为轮毂液压马达的液压能量来源。
本发明充分利用了液压元器件功率密度大、安全性高的特点，通过在原有单一电力驱动***的基础上增加一套液压辅助驱动***，增加了动力驱动***故障容错措施，并扩充了整车在行驶过程中的再生制动使用情况，提高了整车的动力性、可靠性和能量利用率。
附图说明
本发明的上述和/或附加的方面和优点结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1为本发明实施例所述的一种液压辅助多轮混合驱动无人驾驶框架车简图；
图中：1、轮毂液压马达；2、蓄能器；3、液压控制阀组；4、轮边电机及逆变器；5、伺服阀；6、变量泵；7、离合器；8、油泵电机；9、电池组；10、整流器；11、发电机；12、发动机。
图2为本发明实施例在单一电力驱动时的能量流动情况；
图3为本发明实施例在电力液压联合驱动时的能量流动情况；
具体实施方式：
下面结合附图对本发明做更细致的描述：
所述的一种液压辅助多轮混合驱动无人驾驶框架车简图如图1所示，包括发动机12、发电机11、整流器10、电池组9、八个轮边电机及逆变器4、油泵电机8、离合器7、变量泵6、伺服阀5、液压控制阀组3、蓄能器2、四个轮毂液压马达1，使整车具有电力驱动***和液压辅助***两种驱动***；
图2为单一电力驱动时的能量流动情况，发动机与发电机固连形成发动机发电机组，发动机发电机组经过整流器与电池组、逆变器、轮边电机、油泵电机电力连接，构成所述电力驱动***，其中轮边电机为整车提供驱动力矩和再生制动回收力矩，油泵电机负责整车的转向、机械制动以及框架升降；
图3为电力液压联合驱动时的整车工作模式能量流动情况，电力驱动***包括发动机发电机组、整流器、电池组、逆变器、无故障轮边电机、油泵电机，液压辅助***包括液压变量泵、伺服阀、液压控制阀组、蓄能器和四个轮毂液压马达，其中轮边电机和液压轮毂马达既可共同为整车提供驱动力矩，又可分别为整车提供电力再生制动力矩和液压再生制动力矩，油泵电机既负责整车的转向、机械制动以及框架升降，又负责提供液压变量泵的驱动力矩；液压变量泵通过离合器与油泵电机连接，当离合器处于结合状态时，变量泵取部分油泵电机动力，通过液压能驱动轮毂液压马达转动，进而辅助整车驱动，也可以辅助整车制动，并将机械能转换为液压能存储至蓄能器中；所述伺服阀，与变量泵泵排量调解机构连接，通过阀芯位移的变化来调节变量泵排量；所述液压控制阀组与变量泵出油口连接，负责改变流入各轮毂液压马达的油液方向和流量；所述蓄能器与液压控制阀组的出油口连接，可以回收再生制动产生的液压能，并可以作为轮毂液压马达的液压能量来源。

Claims (1)

1.一种液压辅助多轮混合驱动无人驾驶框架车，其特征在于：包括发动机、发电机、整流器、电池组、八个轮边电机、逆变器、油泵电机、离合器、变量泵、伺服阀、液压控制阀组、蓄能器、四个轮毂液压马达，使整车具有电力驱动***和液压辅助***两种驱动***；
所述的发动机与发电机固连形成发动机发电机组，发动机发电机组经过整流器与电池组、轮边电机、油泵电机电力连接，构成所述电力驱动***，其中轮边电机为整车提供驱动力矩和再生制动回收力矩，油泵电机负责整车的转向、机械制动、框架升降以及驱动液压辅助***；
所述液压辅助***，包括液压变量泵、伺服阀、液压控制阀组、蓄能器和四个轮毂液压马达；所述变量泵通过离合器与油泵电机连接，当离合器处于结合状态时，变量泵取部分油泵电机动力，通过液压能驱动轮毂液压马达转动，进而辅助整车驱动，也可以辅助整车制动，并将机械能转换为液压能存储至蓄能器中；所述伺服阀，与变量泵泵排量调解机构连接，通过阀芯位移的变化来调节变量泵排量；所述液压控制阀组与变量泵出油口连接，负责改变流入各轮毂液压马达的油液方向和流量；所述蓄能器与液压控制阀组的出油口连接，可以回收再生制动产生的液压能，并可以作为轮毂液压马达的液压能。
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