CN117429268A - Energy recovery control method and system for pure electric bus - Google Patents
Energy recovery control method and system for pure electric bus Download PDFInfo
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- CN117429268A CN117429268A CN202311601427.2A CN202311601427A CN117429268A CN 117429268 A CN117429268 A CN 117429268A CN 202311601427 A CN202311601427 A CN 202311601427A CN 117429268 A CN117429268 A CN 117429268A
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- 238000011084 recovery Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004590 computer program Methods 0.000 claims description 6
- 238000005265 energy consumption Methods 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000035553 feeding performance Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
Classifications
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- 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
-
- 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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- 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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/54—Drive Train control parameters related to batteries
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention belongs to the technical field of vehicle control, and provides an energy recovery control method and system for a pure electric bus, wherein when braking energy is recovered, a first torque is calculated according to received available recovery power of a battery, and a second torque is calculated according to received maximum feed power of a motor; when the opening degree of the accelerator pedal meets the preset opening degree, the smaller torque of the first torque, the second torque and the set maximum braking torque of the accelerator pedal is used as a target braking torque to control the motor to run; when the opening degree of the accelerator pedal is zero and the opening degree of the brake pedal is larger than zero, adopting smaller torque of the first torque and the second torque as a target braking torque to control the motor to run; the initial energy recovery is carried out by utilizing the stage of loosening the accelerator pedal, and the motor is controlled to run by taking smaller torque as target braking torque with reference to the real-time state of the motor and the battery, so that the problem that the working parameters of the motor or the battery exceed the limit is avoided, and the energy recovery protection of the motor and the battery is facilitated.
Description
Technical Field
The invention belongs to the technical field of vehicle control, and particularly relates to an energy recovery control method and system for a pure electric bus.
Background
With the increasing popularity of electric buses, the requirements of people on energy consumption are increasing. How to ensure safety and also how to consider energy consumption is one important concern.
The inventor finds that for electric buses, the general energy recovery control method utilizes gear information, accelerator pedal information, brake information and motor rotation speed information to judge and process and output negative torque control information, so that the implementation effect is weak, the requirements of the current stage on the safety and the energy consumption performance of the electric buses cannot be met, for example, a given energy recovery control strategy is still adopted under certain fault conditions, and the motor or battery working parameters are caused to be out of limit, so that the safety problem is caused.
Disclosure of Invention
In order to solve the problems, the invention provides an energy recovery control method and system for a pure electric bus, which are used for carrying out preliminary energy recovery by loosening an accelerator pedal, and does not limit the motor braking recovery performance when a brake pedal is stepped on, and refers to the real-time state of a motor and a battery, thereby being beneficial to carrying out energy recovery protection on the motor and the battery, realizing dynamic adjustment of braking torque design, being more beneficial to controlling the braking recovery performance of the whole bus, meeting the energy consumption requirement of the vehicle and realizing deep energy recovery on the premise of ensuring the safety.
In order to achieve the above object, the present invention is realized by the following technical scheme:
in a first aspect, the present invention provides a method for controlling energy recovery of a pure electric bus, including:
judging whether to recover braking energy when the accelerator pedal is released or not according to the received accelerator pedal opening information, instrument energy recovery switch information and battery management information;
when braking energy is recovered, calculating to obtain a first torque according to the received available recovery power of the battery, and calculating a second torque according to the received maximum feed power of the motor;
when the opening degree of the accelerator pedal meets the preset opening degree, the smaller torque of the first torque, the second torque and the set maximum braking torque of the accelerator pedal is used as a target braking torque to control the motor to operate, wherein the preset opening degree is smaller than the maximum opening degree of the accelerator pedal; when the opening degree of the accelerator pedal is zero and the opening degree of the brake pedal is larger than zero, the smaller torque of the first torque and the second torque is adopted as a target braking torque to control the motor to run,
further, when the opening degree of the accelerator pedal is smaller than a preset value, no hand brake pull-up information is met, the available recovery power of the battery is larger than zero, and the maximum feed power of the motor is larger than zero, the brake energy recovery when the accelerator pedal is loosened is performed.
Further, when the accelerator pedal opening is continuously reduced from being smaller than the preset value, the motor is controlled to run by adopting smaller torque of the first torque, the second torque and the set maximum brake torque of the accelerator pedal as target brake torque.
Further, the available recycled power includes battery maximum available recycled power and high voltage accessory power.
Further, the power emitted in the preset time range before each braking energy recovery of the vehicle is the maximum temporary available recovered power, and the power emitted in the preset time range is the maximum continuous available recovered power; after completion of braking energy recovery, the power value is reset to the maximum temporarily available recovered power.
Further, first torque = available recovered power 9550/motor speed.
Further, the second torque = motor maximum power 9550/motor speed.
In a second aspect, the present invention further provides an energy recovery control system for a pure electric bus, including:
a judgment module configured to: judging whether to recover braking energy when the accelerator pedal is released or not according to the received accelerator pedal opening information, instrument energy recovery switch information and battery management information;
a computing module configured to: when braking energy is recovered, calculating to obtain a first torque according to the received available recovery power of the battery, and calculating a second torque according to the received maximum feed power of the motor;
an energy recovery control module configured to: when the opening degree of the accelerator pedal meets the preset opening degree, the smaller torque of the first torque, the second torque and the set maximum braking torque of the accelerator pedal is used as a target braking torque to control the motor to operate, wherein the preset opening degree is smaller than the maximum opening degree of the accelerator pedal; when the accelerator pedal opening is zero and the brake pedal opening is greater than zero, the smaller torque of the first torque and the second torque is used as a target brake torque to control the motor to run.
In a third aspect, the present invention also provides a computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, implements the steps of the energy recovery control method of a pure electric bus according to the first aspect.
In a fourth aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the steps of the energy recovery control method of the pure electric bus of the first aspect are implemented when the processor executes the program.
Compared with the prior art, the invention has the beneficial effects that:
according to the received accelerator opening information, instrument energy recovery switch information and battery management information, judging whether to recover braking energy when loosening acceleration is carried out or not; when braking energy is recovered, calculating to obtain a first torque according to the received available recovery power of the battery, and calculating a second torque according to the received maximum feed power of the motor; when the opening degree of the accelerator pedal meets the preset opening degree, the smaller torque in the first torque and the set maximum braking torque of the accelerator pedal is used as a target braking torque to control the motor to run; when the opening degree of the accelerator pedal is zero and the opening degree of the brake pedal is larger than zero, adopting smaller torque of the first torque and the second torque as a target braking torque to control the motor to run; the stage of loosening the accelerator pedal is utilized to carry out preliminary energy recovery, the motor is controlled to run by referring to the real-time state of the motor and the battery, smaller torque is adopted as target braking torque, the problem that working parameters of the motor or the battery exceed the limit is avoided, the energy recovery protection on the motor and the battery is facilitated, dynamic adjustment of braking torque design can be realized, control of braking recovery performance of the whole vehicle is facilitated, vehicle energy consumption requirements are met, and deep energy recovery is realized on the premise of ensuring safety.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a system configuration of an embodiment 1 of the present invention;
FIG. 2 is a flow chart of the method of embodiment 1 of the present invention;
fig. 3 is a graph of the maximum feeding power of the motor according to embodiment 1 of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
at present, the energy recovery control method utilizes gear information, acceleration information, braking information and motor rotation speed information to judge and process and then output negative torque control information, so that the effect is weaker, the requirements of the current stage on the safety and the energy consumption performance of the vehicle cannot be met, for example, a given energy recovery control strategy is still adopted under certain fault conditions, and the working parameters of a motor or a battery are caused to be out of limit, so that the safety problem is caused.
In view of the above problems, this embodiment provides a method for controlling energy recovery of a pure electric bus, including:
judging whether to recover braking energy when the accelerator pedal is released or not according to the received accelerator pedal opening information, instrument energy recovery switch information and battery management information;
when braking energy is recovered, calculating to obtain a first torque according to the received available recovery power of the battery, and calculating a second torque according to the received maximum feed power of the motor;
when the opening degree of the accelerator pedal meets the preset opening degree, the smaller torque of the first torque, the second torque and the set maximum braking torque of the accelerator pedal is used as a target braking torque to control the motor to operate, wherein the preset opening degree is smaller than the maximum opening degree of the accelerator pedal; when the accelerator pedal opening is zero and the brake pedal opening is greater than zero, the smaller torque of the first torque and the second torque is used as a target brake torque to control the motor to run.
The stage of loosening the accelerator pedal is utilized to carry out preliminary energy recovery, the motor is controlled to run by referring to the real-time state of the motor and the battery, smaller torque is adopted as target braking torque, the problem that working parameters of the motor or the battery exceed the limit is avoided, the energy recovery protection on the motor and the battery is facilitated, dynamic adjustment of braking torque design can be realized, control of braking recovery performance of the whole vehicle is facilitated, vehicle energy consumption requirements are met, and deep energy recovery is realized on the premise of ensuring safety.
The specific steps of the method in this embodiment may include:
s1, high-voltage closing of an electric passenger car, wherein optionally, a driver presses a key of an instrument to open a deep energy recovery switch, and the instrument sends the switch state to a whole car controller through a CAN bus. The whole vehicle controller collects energy recovery conditions when the opening degree of an accelerator pedal is smaller than 20 percent, the opening degree of a brake pedal is 0, and the available recovery power of a battery is larger than 0 kw.
S2, if the opening degree of the accelerator pedal continuously drops from 20%, the whole vehicle controller compares a torque value calculated according to the available recovery power with a set maximum braking torque 200NM of the accelerator pedal through receiving the maximum available recovery power and the maximum motor feeding power of the battery management system, if the torque value calculated according to the available recovery power and the maximum motor feeding power is larger than the set maximum braking torque, the target torque sent to the motor controller by the whole vehicle controller is 200NM, otherwise, the torque value calculated according to the smaller value of the available recovery power and the maximum motor feeding power is obtained; the available recycled power is the battery maximum available recycled power + high voltage accessory power.
From the target torque = available recovered power 9550/motor speed, a torque value calculated from the available recovered power can be obtained.
The torque value calculated by the motor maximum power is obtained according to the target torque=the motor maximum power 9550/motor rotation speed.
S3, after the accelerator pedal is completely released, if the opening of the brake pedal is larger than 0%, the whole vehicle controller receives the maximum available recovery power of the battery management system and the maximum feed power of the motor, compares a torque value calculated according to the available recovery power with a torque value calculated by the maximum feed power of the motor, and if the torque value calculated by the available recovery power is larger than the torque value calculated by the maximum feed power of the motor, calculates a target torque according to the maximum torque value at the current rotating speed, wherein the specific maximum torque value is set as shown in a figure 2, and the torque value is set as a reference motor maximum efficiency interval; the available recycled power is the battery maximum available recycled power + high voltage accessory power.
If the calculated torque value of the available recovered power is smaller than the calculated torque value of the maximum feed power of the motor, the target torque is calculated according to the available recovered power at the moment.
And obtaining the target torque of the whole vehicle controller for the motor controller according to the target torque = the output motor power of the whole vehicle controller 9550/motor rotation speed.
For example, when the motor rotation speed n=1300 rpm and the available recovery power=80 kw, the vehicle controller uses the available recovery power 9550/motor rotation speed according to the target torque=the target torque: target torque=80×9550/1300= 587.69 (n.m).
S4, the motor controller receives the target torque value sent by the whole vehicle controller, and controls the motor to operate according to the target torque value, and at the moment, the brake recovery operation is completed.
According to the embodiment, braking recovery is performed at the moment of releasing the accelerator pedal, and accurate control of energy recovery is achieved by combining battery information and motor characteristics, so that the maximum efficiency and the feeding performance of the motor can be guaranteed on the basis of vehicle safety.
The embodiment also provides an energy recovery control system of the pure electric bus, which comprises a whole vehicle controller, a motor controller, a battery management system, an instrument, a driving motor, a brake pedal, an accelerator pedal, a high-voltage accessory and the like, wherein the system structure is shown in the attached figure 1.
In the system, a whole vehicle controller interacts with a battery management system and an instrument through a CAN bus, components such as an accelerator pedal, a brake pedal, a high-voltage accessory and the like send respective state information to the whole vehicle controller according to a CAN bus protocol, the whole vehicle controller processes the state information combined with the instrument and the battery information, then sends a command and the state information to a motor controller according to the CAN bus protocol, and the motor controller drives a motor to operate after processing the state information. The working functions and principles are as follows:
the vehicle controller detects the vehicle state and judges whether a brake recovery condition is reached: and the whole vehicle controller is communicated with the instrument to judge whether to start the recovery of braking energy when the vehicle is in loose acceleration. The whole vehicle controller is used for sending a braking torque instruction to the motor controller by receiving the information of the accelerator pedal and the brake pedal. The vehicle controller receives the information of the acceleration pedal, the brake pedal, the instrument energy recovery switch and the battery management system information, namely, the opening degree of the acceleration pedal is 0, the information of pulling up the vehicle is not needed, and the available recovery power of the battery is more than 0kw, so that the energy recovery condition is met.
The motor controller sends motor information to the whole vehicle controller through a CAN bus; the motor information comprises motor rotation speed, actual motor running torque, motor maximum feed power and the like.
And the battery management system sends the maximum available recovery power information of the battery to the whole vehicle controller through the CAN bus. The maximum available recovered power emitted by the battery takes the following values: the vehicle generates power for the maximum temporary available recovered power 30s before each braking recovery, and generates power for the maximum continuous available recovered power 30s after each braking recovery. After the brake fade operation is completed, the power value may be reset to the maximum temporary available power.
The whole vehicle controller combines the information of the motor controller and the battery management system, and determines a target torque value by comparing the torque vertical determined according to the maximum available power of the battery management system, the torque vertical determined according to the maximum feed power of the motor and the set maximum brake torque value of an accelerator pedal, wherein the target torque value can be according to the set fixed torque value or the calculated value; and the whole vehicle controller sends the obtained target torque to the motor controller through the CAN bus to complete the design of the driving torque.
And the motor controller receives the target braking torque sent by the whole vehicle controller according to the CAN bus protocol, and controls the motor to run according to the torque value, so that the braking recovery operation is completed.
Example 2:
the embodiment provides a pure [ electric ] motor coach energy recuperation control system, includes:
a judgment module configured to: judging whether to recover braking energy when the accelerator pedal is released or not according to the received accelerator pedal opening information, instrument energy recovery switch information and battery management information;
a computing module configured to: when braking energy is recovered, calculating to obtain a first torque according to the received available recovery power of the battery, and calculating a second torque according to the received maximum feed power of the motor;
an energy recovery control module configured to: when the opening degree of the accelerator pedal meets the preset opening degree, the smaller torque in the first torque and the set maximum braking torque of the accelerator pedal is used as a target braking torque to control the motor to operate, wherein the preset opening degree is smaller than the maximum opening degree of the accelerator pedal; when the accelerator pedal opening is zero and the brake pedal opening is greater than zero, the smaller torque of the first torque and the second torque is used as a target brake torque to control the motor to run.
The working method of the system is the same as the energy recovery control method of the pure electric bus in embodiment 1, and is not repeated here.
Example 3:
the present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the electric-only passenger vehicle energy recovery control method described in embodiment 1.
Example 4:
the embodiment provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, wherein the steps of the energy recovery control method of the pure electric bus in embodiment 1 are implemented when the processor executes the program.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. The energy recovery control method of the pure electric bus is characterized by comprising the following steps of:
judging whether to recover braking energy when the accelerator pedal is released or not according to the received accelerator pedal opening information, instrument energy recovery switch information and battery management information;
when braking energy is recovered, calculating to obtain a first torque according to the received available recovery power of the battery, and calculating a second torque according to the received maximum feed power of the motor;
when the opening degree of the accelerator pedal meets the preset opening degree, the smaller torque of the first torque, the second torque and the set maximum braking torque of the accelerator pedal is used as a target braking torque to control the motor to operate, wherein the preset opening degree is smaller than the maximum opening degree of the accelerator pedal; when the accelerator pedal opening is zero and the brake pedal opening is greater than zero, the smaller torque of the first torque and the second torque is used as a target brake torque to control the motor to run.
2. The energy recovery control method of a pure electric bus according to claim 1, wherein when the opening of an accelerator pedal is smaller than a preset value, instrument energy recovery switch information is provided, the available recovery power of a battery is larger than zero, and the maximum feed power of a motor is larger than zero, braking energy recovery is performed when the accelerator pedal is released.
3. The energy recovery control method of a pure electric bus according to claim 1, wherein when the accelerator opening is continuously lowered from below a preset value, the motor is controlled to operate by using the smaller torque of the first torque, the second torque and the set maximum brake torque of the accelerator pedal as the target brake torque.
4. A method of energy recovery control for a pure electric bus as defined in claim 1 wherein the available recovered power includes battery maximum available recovered power and high voltage accessory power.
5. The energy recovery control method of a pure electric bus as set forth in claim 4, wherein the power emitted in a preset time range before each braking energy recovery of the vehicle is the maximum temporary available recovered power, and the preset time is followed by the maximum continuous available recovered power; after completion of braking energy recovery, the power value is reset to the maximum temporarily available recovered power.
6. A method of energy recovery control for a pure electric bus as defined in claim 1, wherein the first torque = available recovery power 9550/motor speed.
7. A method of energy recovery control for a pure electric bus as claimed in claim 1, characterized in that the second torque = motor maximum power 9550/motor speed.
8. The utility model provides a pure [ electric ] motor coach energy recuperation control system which characterized in that includes:
a judgment module configured to: judging whether to recover braking energy when the accelerator pedal is released or not according to the received accelerator pedal opening information, instrument energy recovery switch information and battery management information;
a computing module configured to: when braking energy is recovered, calculating to obtain a first torque according to the received available recovery power of the battery, and calculating a second torque according to the received maximum feed power of the motor;
an energy recovery control module configured to: when the opening degree of the accelerator pedal meets the preset opening degree, the smaller torque of the first torque, the second torque and the set maximum braking torque of the accelerator pedal is used as a target braking torque to control the motor to operate, wherein the preset opening degree is smaller than the maximum opening degree of the accelerator pedal; when the accelerator pedal opening is zero and the brake pedal opening is greater than zero, the smaller torque of the first torque and the second torque is used as a target brake torque to control the motor to run.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, realizes the steps of the electric-only passenger vehicle energy recovery control method as claimed in any one of claims 1 to 7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the electric only bus energy recovery control method according to any one of claims 1-7 when executing the program.
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| CN202311601427.2A CN117429268A (en) | 2023-11-27 | 2023-11-27 | Energy recovery control method and system for pure electric bus |
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| CN202311601427.2A CN117429268A (en) | 2023-11-27 | 2023-11-27 | Energy recovery control method and system for pure electric bus |
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| CN202311601427.2A Pending CN117429268A (en) | 2023-11-27 | 2023-11-27 | Energy recovery control method and system for pure electric bus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118003901A (en) * | 2024-04-10 | 2024-05-10 | 成都壹为新能源汽车有限公司 | Method and device for processing braking energy recovery torque of electric automobile |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118003901A (en) * | 2024-04-10 | 2024-05-10 | 成都壹为新能源汽车有限公司 | Method and device for processing braking energy recovery torque of electric automobile |
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