CN101980883A - 使混合动力车辆的车轮之间的旋转速度和扭矩存在差异的系统和方法 - Google Patents

使混合动力车辆的车轮之间的旋转速度和扭矩存在差异的系统和方法 Download PDF

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Publication number
CN101980883A
CN101980883A CN2009801110561A CN200980111056A CN101980883A CN 101980883 A CN101980883 A CN 101980883A CN 2009801110561 A CN2009801110561 A CN 2009801110561A CN 200980111056 A CN200980111056 A CN 200980111056A CN 101980883 A CN101980883 A CN 101980883A
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China
Prior art keywords
trailing wheel
rear drive
mixed power
vehicle driven
wheel
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CN2009801110561A
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B·V·穆尔蒂
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GM Global Technology Operations LLC
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GM Global Technology Operations LLC
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Publication of CN101980883A publication Critical patent/CN101980883A/zh
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    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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Abstract

用于推动混合动力车辆的动力系包括用于驱动一对前轮的前传动系和用于驱动第一和第二后轮以推动所述混合动力车辆的后传动系。第一和第二后驱动电机与后轮操作地连接以推动混合动力车辆。从能量存储装置传递能量以为第一和第二后驱动电机中的每一个提供功率，并操作第一和第二后驱动电机。同样，在再生制动期间，从后驱动电机中的每一个传递能量，以对能量存储装置充电。独立于第二后驱动电机来操作第一后驱动电机来传递扭矩，以在各后轮之间矢量分配扭矩和控制混合动力车辆的动态。

Description

使混合动力车辆的车轮之间的旋转速度和扭矩存在差异的系统和方法
技术领域
本发明涉及操作动力系以使混合动力车辆的车轮之间的旋转速度和扭矩存在差异的系统和方法。
背景技术
典型的四轮驱动车辆的动力系包括发动机，变速器，分动箱，前、后驱动轴，以及前、后差速器。分动箱与变速器操作地连接，以将动力传向前轮和/或后轮。前驱动轴操作地使分动箱与前差速器连接，后驱动轴操作地使分动箱与后差速器连接。前差速器驱动前轮，而后差速器驱动后轮。在特定驾驶条件下，分动箱被操作成仅将动力传向后轮。在其它驾驶条件下，即四轮驱动时，分动箱被操作成将动力传向前轮和后轮。
发明内容
混合动力车辆包括动力系，所述混合动力车辆具有第一和第二后轮。动力系包括与第一后轮操作地连接以驱动第一后轮的第一后驱动电机。第二后驱动电机与第二后轮操作地连接以驱动第二后轮，且其独立于驱动第一后轮的所述第一后驱动电机。第一离合机构使第一后驱动电机与第一后轮操作地相互连接，使第一后驱动电机与第一后轮选择性地分离。第二离合机构使第二后驱动电机与第二后轮操作地相互连接，使第二后驱动电机与第二后轮选择性地分离。
混合动力车辆包括一对前轮，第一后轮，第二后轮，以及底盘。前传动系由底盘支撑，并与前轮操作地连接，以驱动前轮来推动混合动力车辆。第一后驱动电机与第一后轮操作地连接，以驱动第一后轮来推动混合动力车辆。第二后驱动电机与第二后轮操作地连接，以驱动第二后轮来推动混合动力车辆。能量存储装置与第一和第二后驱动电机中的每一个操作地连接，以将功率输送给第一和第二后驱动电机，并独立地驱动第一和第二后轮中的每一个，以推动混合动力车辆和控制混合动力车辆的动态。后支架由底盘支撑且设置在后轮之间。第一和第二后驱动电机由后支架支撑。
一种矢量分配扭矩以控制和推动混合动力车辆的方法，包括将混合动力电池的能量输送给第一和第二后电机。第一后电机被操作为将扭矩传递给第一后轮，使第一后轮旋转并推动混合动力车辆。第二后电机被操作为将扭矩传递给第二后轮，使第二后轮旋转并推动混合动力车辆。
通过独立地驱动各后轮，可以使各后轮之间的旋转速度和/或扭矩存在差异，而无需使用增加混合动力车辆的成本、重量和复杂性的部件，例如分动箱，前、后驱动轴，以及差速器。这些部件的排除可以通过减轻重量和减小与使这些部件旋转以推动混合动力车辆关联的阻力来提高燃料经济性。另外，也可根据驾驶条件基于彼此独立操作各后轮的能力，提供混合动力车辆的牵引控制。
结合附图阅读以下实施本发明的最佳方式的详细描述，本发明的以上特征和优点以及其它特征和优点将变得清楚。
附图说明
现在参照作为示范性实施例的附图，其中，相同构件的标号相同：
图1为混合动力车辆的示意图，其图示了具有用于推动该混合动力车辆的前传动系和后传动系的动力系；
图2是图1的混合动力车辆的一个实施例的示意图，其图示了是带式交流发电机起动器系统的前传动系；
图3是图1的混合动力车辆的另一实施例的示意图，其图示了是完全混合动力系统的前传动系；
图4是图1的混合动力车辆的又一实施例的示意图，其图示了是发动机和变速器的前传动系；以及
图5是混合动力车辆的后混合动力系统的前透视图，该后混合动力系统包括安装在支架上的一对后电机。
具体实施方式
参照附图，其中相同标号代表相同部件，图1用10显示了用于推动混合动力车辆12的动力系。混合动力车辆包括底盘11。动力系10包括由底盘11支撑的前传动系14和后传动系16。前传动系14和后传动系16中的一个或两个从能量存储装置18提取功率，以推动混合动力车辆12。能量存储装置18为混合动力电池、燃料电池、超级电容器等，其可附加标准辅助电池，用于为混合动力车辆12的配件(例如头灯、收音机等)提供功率。混合动力车辆12包括一对前轮20和一对后轮22，24。后轮22，24包括第一后轮22和第二后轮24。前传动系14操作地连接到前轮20，以驱动前轮20，即，使前轮20旋转，并推动混合动力车辆12。同样，后传动系16与后轮22，24操作地连接，以驱动后轮22，24，并推动混合动力车辆12。
前传动系14包括发动机26和变速器28，如图2所示。发动机26和变速器28的类型是本领域技术人员所公知的。参照图2和图3，前传动系14可为与能量存储装置18操作地连接的混合动力系统14A，14B，例如带式交流发电机起动器系统(BAS系统)30，完全混合动力系统32等。能量存储装置18为可再充电的，并具有用于维持前传动系14的混合动力系统的功能的足够大的电容量。因此，前混合动力系统14A，14B可构造成产生功率，以给能量存储装置18充电。具体参照图2，BAS系统30为附接在发动机26上的“停止/启动”系统，如图2所示。在特定驾驶条件下，例如当混合动力车辆12停止时，混合动力车辆12的发动机26停止。BAS系统30包括皮带驱动的起动器发电机34和将发动机26和皮带驱动的起动器发电机34操作地连接的辅助皮带36。当准备推动混合动力车辆12时，BAS系统30从能量存储装置18抽取功率给起动器发电机34，以借助于辅助皮带36来重新起动发动机26。
具体参照图3，完全混合动力系统32利用发动机26驱动混合动力车辆12的前轮20，以推动混合动力车辆12。然而，前电机38提供额外的功率驱动前轮20。前电机38为电动的，并由能量存储装置18提供功率来驱动前轮20。另外，完全混合动力系统32可利用电动的前电机38作为用于拥堵交通或倒车时的低速度、低加速度行驶的推动的唯一动力源。在一些驾驶条件下，完全混合动力系统32的该纯电动驱动模式可进一步提高燃料效率。或者，完全混合动力系统32包括两个电动的前电机38。电动的电机38可结合在变速器28内。前电机38中的一个驱动前轮20，而另一前电机38在需要时可例如通过再生制动等作为发电机运转，以产生用于给能量存储装置18充电的电力。应理解，完全混合动力系统32不限于具有一个或两个前电机38，其可具有任何所需数量的构造成驱动前轮和/或给能量存储装置18充电的前电机38，如本领域技术人员所公知的那样。
在另一实施例中，前传动系14C仅利用发动机26和变速器28，如图4所示，而不具有图2和3中所示的混合动力系统。在该构造中，用于前传动系14的功率仅来自发动机26，没有能量存储装置18的辅助。然而，本领域技术人员将会认识到，本发明的前传动系14A，14B，14C不限于BAS系统30、完全混合动力系统32或发动机26，其可为本领域技术人员公知的用于驱动前轮20以推动混合动力车辆12的任何可接受的构造。
总地参照图1-4，后传动系16包括与能量存储装置18操作地连接的第一后驱动电机40和第二后驱动电机42。能量存储装置18提供功率给后驱动电机40，42，以驱动后轮22，24，进而推动混合动力车辆12。因此，能量存储装置18的类型是具有还提供功率给后传动系16的充足容量。然而，应理解，本发明不限于仅使用用于前传动系和后传动系16两者的单个能量存储装置18。例如，前传动系14和后传动系16可分别具有一个或多个独立的混合动力电池。
第一后驱动电机40从能量存储装置18接收功率，以将扭矩传递给第一后轮22，使第一后轮22旋转，进而推动混合动力车辆12。第二后驱动电机42从能量存储装置18接收功率，以将扭矩传递给第二后轮24，使第二后轮24旋转，进而推动混合动力车辆12。这意味着当前传动系14在驱动前轮20且后传动系16在驱动后轮22，24时，可实现四轮驱动混合动力车辆12。另外，因为第一后驱动电机40构造成独立于驱动第二后轮24的第二后驱动电机42来驱动第一后轮22，所以可获得相对于彼此而独立地驱动各后轮22，24的能力。因此，第一和第二后驱动电机40，42代替了典型车辆中所包括的机械差速器。机械差速器仅可使第一后轮22和第二后轮24之间的旋转速度存在差异，而借助于后驱动电机40，42，后轮22，24的独立操作可允许第一后轮22和第二后轮24之间的速度和/或扭矩存在差异。对于速度差异，这意味着第一后轮22可以与第二后轮24不同的速度旋转。例如，当后轮22，24中的一个或两个位于较滑的路面上时，可减慢后轮22，24中的一个或两个的旋转速度，以增加后轮22，24中的一个或两个与路面之间的牵引力。对于扭矩差异，这意味着可在第一和第二后轮22，24施加不同的扭矩而实现扭矩矢量分配。扭矩矢量分配允许在后轮22，24中的一个施加正扭矩的同时，在后轮22，24中的另一个施加负扭矩，即，在使后轮22，24中的一个加速的同时，使后轮22，24中的另一个减速。例如，如果混合动力车辆12在一个方向上经历横摆力矩，可将“横摆校正”施加在后轮22，24中的一个上，以校正或消除横摆力矩。为校正或消除横摆力矩，将负扭矩施加在混合动力车辆12的与横摆力矩的方向相反的一侧的后轮22，24上，并将正扭矩施加在与横摆力矩方向相同的一侧的后轮22，24上，以抵消横摆力矩。施加在后轮22，24上的负扭矩操作为使后轮22，24的旋转速度降低，而施加在后轮22，24上的正扭矩操作为使后轮22，24的旋转速度增加，直到减小或消除横摆力矩。因此，通过两个后驱动电机40，42施加在后轮22，24上的扭矩的方向和大小在任何时候基于抵抗横摆运动所需的校正而确定。因为后驱动电机40，42中的任何一个均可以短的时间常数在任何一个旋转方向产生扭矩，所以可迅速地恢复车辆的稳定性。
后驱动电机40，42可通过齿轮变速。在一个实施例中，后驱动电机40，42包括单级齿轮减速器。单级齿轮减速器降低后驱动电机40，42的重量，但仍提供用于驱动后轮22，24所需的扭矩。相较于当后驱动电机40，42内没有齿轮减速器时，齿轮减速器允许在后轮22，24上施加更高的扭矩。应理解，齿轮减速器不限于单级齿轮减速器，因为可使用本领域技术人员所公知的更多级的齿轮减速器来施加扭矩和驱动后轮22，24以推动混合动力车辆12。
可在第一后驱动电机40与第一后轮22之间设置第一离合机构43，并可在第二后驱动电机42与第二后轮24之间设置第二离合机构45。离合机构43，45操作为当后驱动电机40，42不工作时使后驱动电机40，42与对应的后轮22，24分离。使后驱动电机40，42与后轮22，24脱离减少摩擦损失，而如果后驱动电机40，42不与后轮22，24分离，那么通常会造成摩擦损失。当混合动力车辆12仅由前传动系14推动时，后轮22，24仍然旋转，但其不由后驱动电机40，42驱动。如果后轮22，24不借助于离合机构43，45与后驱动电机40，42分离，那么后轮22，24可能“反向驱动”后驱动电机40，42，在后传动系16上生成“阻力”，这会导致混合动力车辆12的燃料经济性下降。
在一个实施例中，第一后速度传感器44与第一后轮22操作地连接，以检测第一后轮22的旋转速度。第二后速度传感器46与第二后轮24操作地连接，以检测第二后轮24的旋转速度。响应于检测各后轮22，24的旋转速度，可改变后轮22，24中的一个或两个的旋转速度以满足路况。例如，当一个或多个车轮在较滑的路面上，且第一后轮22与第二后轮24之间的旋转速度不同时，如第一和/或第二后速度传感器44，46所检测的那样，从控制器64将信号发送到后驱动电机40，42，以便仅将扭矩提供给后轮22，24中的与路面具有牵引力的一个。信号用作使后轮22，24中与路面具有牵引力的一个旋转，使得混合动力车辆12不被困住，而不使后轮22，24中的在滑的路面上另一个旋转。
另外，混合动力车辆12可装备有牵引控制系统48，以检测后轮22，24中的一个或两个是否在低牵引力的路面上，例如雪、冰、泥等。当检测到低牵引力时，可操作牵引控制系统48，以将来自能量存储装置18的功率仅传递给后驱动电机40，42中的一个，从而仅使后轮22，24中的一个旋转，以便增加后轮22，24与路面之间的牵引力，同时推动混合动力车辆12。
在另一情况下，当混合动力车辆12被例如雪、冰、泥、车辙等困住时，可操作牵引控制系统48，使混合动力车辆12在前后方向上“摇动”。通过使后驱动电机40，42在正旋转方向和负旋转方向之间迅速地脉动，实现摇动混合动力车辆12，其中，在正旋转方向脉动即，将正扭矩传递给后轮22，24以使后轮22，24在正旋转方向上旋转，在负旋转方向脉动即，将负扭矩传递给后轮22，24以使后轮在与正旋转方向相反的负旋转方向上旋转。例如，在一个实施例中，每100-150毫秒改变后轮22，24的旋转方向。然而，应理解，可使用更长或更短的时间改变后驱动电机40，42的旋转方向。
在另一实施例中，后传动系16用于通过在激活前传动系14之前仅使用后驱动电机40，42从停止状态起动混合动力车辆12而提高混合动力车辆12的燃料经济性。在混合动力车辆12起动之后，可以使用也可以不使用后驱动电机40，42。
在一个实施例中，后驱动电机40，42均为感应电机。感应电机的一种类型为三相AC感应电机，其中通过电磁感应将功率供应给感应电机内的旋转器件。应理解，电机不限于感应电机，也可以是本领域技术人员所公知的任何类型的电机。
参照图5，后支架50设置在后轮22，24之间。后支架50由底盘11支撑。在一个实施例中，后支架50支撑驱动电机40，42。第一半轴52在第一后驱动电机40和第一后轮22的第一转子51之间延伸，以将第一后驱动电机40和第一转子51操作地互连。第一半轴52将旋转输出从第一后驱动电机40传递给第一后轮22。第二半轴54将第二后驱动电机42和第二后轮24的第二转子53操作地互连。第二半轴54将旋转输出从第二后驱动电机42传递给第二转子53。CV接头56设置在各半轴与相应的后轮22，24之间。CV接头56是本领域技术人员所公知的类型，并允许各后轮22，24与后支架50之间的联接。
在另一实施例中，后驱动电机40，42直接安装在相应的后轮22，24上，即“轮毂电机”。这意味着第一后驱动电机40直接安装在第一后轮22上，且第二后驱动电机42直接安装在第二后轮24上。在该构造中，因为后驱动电机40，42不安装在后支架50上，所以不需要半轴来驱动后轮22，24推动混合动力车辆12。应理解，后驱动电机40，42不限于安装在后支架50或后轮22，24上，也可以使用本领域技术人员公知的任何其它的安装构造。
再次参照图1，前轮20包括一对前制动58，后轮22，24包括一对后制动60，62。第一后轮22包括第一后制动60，而第二后轮24包括第二后制动62。更具体地，参照图5，第一后轮22包括第一后转子51和与第一后转子51操作地连接的第一后制动60。第二后轮24包括第二后转子53和与第二后转子53操作地连接的第二后制动62。前制动58和后制动60，62可为本领域技术人员公知的类型，用于以机械方式或液压方式将压力施加在相应的前、后轮20，22，24上，以使前、后轮20，22，24的旋转减慢和/或停止，并使混合动力车辆12减速和/或停止。
除使用第一和第二后驱动电机40，42来驱动后轮22，24以推动混合动力车辆12之外，还可操作第一和第二后驱动电机40，42，以通过降低后轮22，24的旋转速度来使混合动力车辆12减速。在该实施例中，第一和第二后驱动电机40，42可构造成发电机，以产生为能量存储装置18充电的功率，即“再生制动”。当操作后驱动电机40，42使后轮22，24的旋转减慢时，后驱动电机40，42内产生电能。与推动混合动力车辆12关联的动能转换为后驱动电机40，42中的一个或两个内的电能。控制器64设置在后驱动电机40，42和能量存储装置18之间。控制器64或逆变器(未显示)的一个功能是将后驱动电机40，42内的AC电能转换为用于能量存储装置18的DC功率。电能从后驱动电机40，42流出，并被能量存储装置18吸收作为对能量存储装置18充电的DC功率。控制器64也可设置在混合动力车辆12内，以检测或接收需要减小后轮22，24中的一个或两个的旋转速度的信号。控制器64或逆变器(未显示)可操作为将来自能量存储装置18的DC功率变换为操作后驱动电机40，42所需要的AC功率。检测能量存储装置18的电压的充电状态，以确定能量存储装置18的电压是否低于阈值水平。如果能量存储装置18的充电状态低于阈值水平，那么能量存储装置18的充电状态足够低而允许对能量存储装置18充电。如果能量存储装置18的充电状态在阈值水平以上，那么能量存储装置18的充电状态太高而不需充电，且不操作第一和第二后驱动电机40，42减慢后轮22，24的旋转和产生对能量存储装置18充电的功率。而是操作前制动58和/或后制动60，62，减慢前、后轮20，22，24的旋转。因此，当能量存储装置18在阈值水平以上时，前制动58和/或后制动60，62被操作作为后驱动电机40，42的机械后备装置，以减慢后轮22，24的旋转，仅当能量存储装置18的充电状态低于阈值水平时，后驱动电机40，42的操作减慢后轮22，24的旋转。
尽管已经详细描述了用于实施本发明的最佳方式，但本领域技术人员可以想到在权利要求书的范围内的用于实施本发明的各种备选设计和实施例。

Claims (19)

1.一种用于推动和控制具有第一和第二后轮的混合动力车辆的动力系，所述动力系包括：
第一后驱动电机，与所述第一后轮操作地连接以驱动所述第一后轮；
第二后驱动电机，与所述第二后轮操作地连接以驱动所述第二后轮，所述第二后驱动电机独立于驱动所述第一后轮的所述第一后驱动电机；和
控制器，与所述第一和第二后驱动电机中的每一个操作地连接以发送信号给所述后驱动电机中的至少一个；
其中，所述后驱动电机中的每一个响应于来自所述控制器的所述信号，将扭矩传递给所述第一和第二后轮，从而使所述各后轮之间的扭矩和旋转速度中的至少一个存在差异。
2.根据权利要求1所述的动力系，其特征在于，所述动力系还包括：
第一离合机构，使所述第一后驱动电机和所述第一后轮操作地相互连接，使所述第一后驱动电机与所述第一后轮选择性地分离；和
第二离合机构，使所述第二后驱动电机和所述第二后轮操作地相互连接，使所述第二后驱动电机与所述第二后轮选择性地分离。
3.根据权利要求1所述的动力系，其特征在于，所述动力系还包括能量存储装置，所述能量存储装置与所述第一和第二后驱动电机操作地连接，用于向所述第一和第二后驱动电机提供功率，以驱动所述第一和第二后轮。
4.根据权利要求3所述的动力系，其特征在于，所述后驱动电机为感应电机。
5.根据权利要求4所述的动力系，其特征在于，所述后驱动电机至少包括单级齿轮减速器。
6.根据权利要求1所述的动力系，其特征在于，所述动力系还包括：
第一半轴，使所述第一后驱动电机和所述第一后轮操作地相互连接；和
第二半轴，使所述第二后驱动电机和所述第二后轮操作地相互连接。
7.根据权利要求1所述的动力系，其特征在于，所述动力系还包括速度传感器，所述速度传感器与所述第一和第二后轮操作地连接，用于检测所述第一和第二后轮中的每一个的旋转速度。
8.根据权利要求1所述的动力系，其特征在于，所述动力系还包括前传动系，所述前传动系与一对前轮操作地连接，以驱动所述一对前轮来推动所述混合动力车辆。
9.根据权利要求8所述的动力系，其特征在于，所述前传动系为带式交流发电机起动器系统和完全混合动力系统中的一种，与所述一对前轮操作地连接，以驱动所述一对前轮来推动所述混合动力车辆。
10.根据权利要求8所述的动力系，其特征在于，所述完全混合动力系统包括至少一个前电机，所述至少一个前电机与所述一对前轮操作地连接以驱动所述一对前轮来推动所述混合动力车辆。
11.根据权利要求8所述的动力系，其特征在于，所述动力系还包括能量存储装置，所述能量存储装置与所述前传动系操作地连接，以将功率传递给所述前传动系来驱动所述一对前轮来推动所述混合动力车辆。
12.一种混合动力车辆，包括：
一对前轮；
第一后轮；
第二后轮；
底盘；
前传动系，由所述底盘支撑，并与所述前轮操作地连接以驱动所述前轮来推动所述混合动力车辆；
第一后驱动电机，与所述第一后轮操作地连接，以驱动所述第一后轮来推动所述混合动力车辆；
第二后驱动电机，与所述第二后轮操作地连接，以驱动所述第二后轮来推动所述混合动力车辆；
能量存储装置，与所述第一和第二后驱动电机中的每一个操作地连接，以将功率传递给所述第一和第二后驱动电机，并且独立地驱动所述第一和第二后轮中的每一个来推动所述混合动力车辆和控制所述混合动力车辆的动态；以及
后支架，由所述底盘支撑，并设置在所述后轮之间，所述第一和第二后驱动电机由所述后支架支撑。
13.矢量分配扭矩以控制和推动混合动力车辆的方法，所述方法包括下述步骤：
将功率从能量存储装置输送给第一和第二后驱动电机；
操作所述第一后驱动电机，以将扭矩传递给第一后轮，使所述第一后轮旋转来推动所述混合动力车辆；
操作所述第二后驱动电机，以将扭矩传递给第二后轮，使所述第二后轮旋转来推动所述混合动力车辆。
14.根据权利要求13所述的方法，其特征在于，所述第一后驱动电机以第一旋转速度旋转，所述第二电机以不同于所述第一旋转速度的第二旋转速度旋转。
15.根据权利要求13所述的方法，其特征在于，所述方法还包括：
检测所述第一后轮的所述第一旋转速度；
检测所述第二后轮的所述第二旋转速度；以及
响应于所述第一和第二旋转速度，发送信号给所述第一和第二后驱动电机中的至少一个，以改变所述相应的第一和第二后轮中的至少一个的旋转速度，以控制所述混合动力车辆的动态。
16.根据权利要求13所述的方法，其特征在于，所述方法还包括：
检测所述混合动力车辆的横摆力矩；和
发送信号给所述第一和第二后驱动电机中的至少一个，以改变从所述第一和第二后驱动电机中的至少一个传递给相应的后轮的扭矩，以矢量分配所述扭矩和控制所述混合动力车辆的动态。
17.根据权利要求13所述的方法，其特征在于，所述方法还包括检测所述能量存储装置的充电状态。
18.根据权利要求17所述的方法，其特征在于，所述方法还包括：
接收减慢所述第一和第二后轮中的至少一个的旋转速度的信号；
当检测到所述能量存储装置的充电状态低于阈值水平时，操作所述第一和第二后驱动电机中的至少一个，以减小所述后轮的旋转速度；
当操作所述第一和第二后电机中的一个来减小所述后轮的旋转速度时，将所述混合动力车辆的动能转换为电能；以及
将所述电能输送给所述能量存储装置以对所述能量存储装置充电。
19.根据权利要求17所述的方法，其特征在于，所述方法还包括：
接收减慢所述第一和第二后轮中的至少一个的旋转的信号；和
当检测到所述能量存储装置的充电状态在阈值水平以上时，对所述第一和第二后轮中的至少一个施加制动。
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