CN102133891A - H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles - Google Patents
H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles Download PDFInfo
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Abstract
The invention relates to an H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles, and the hydraulic anti-lock brake system provided by the invention is characterized in that a first high-speed switch valve is additionally arranged on a pipeline between a right front wheel-left front wheel brake oil line of a pressure regulator and a brake master cylinder; a branch line with a second high-speed switch valve, a third high-speed switch valve and an intermediate-pressure energy accumulator is additionally arranged in the right front wheel-left front wheel brake oil line; a pipeline (connected with the brake master cylinder) of the right front wheel-left front wheel brake oil line of the pressure regulator is provided with a master cylinder pressure sensor; and a right front wheel cylinder and a left front wheel cylinder are respectively provided with a wheel cylinder pressure sensor. By using the hydraulic anti-lock brake system provided by the invention, the braking energy feedback and ABS integration control can be realized without influencing the driving habits of drivers, the braking performance meets the requirements of regulations, the vehicle fuel economy is improved, the development costs of hybrid vehicles and pure electric vehicle systems are reduced, and the energy recycling efficiency in the process of braking is improved, therefore, the hydraulic anti-lock brake system can be widely applied to vehicles.
Description
Technical field
The present invention relates to the skid control system for hygraulic brake of vehicle, particularly about a kind of H type piping layout energy feedback type electronlmobil skid control system for hygraulic brake that is applicable to motor vehicle driven by mixed power or pure electric vehicle.
Background technology
By the dynamical element of control electronlmobil, the kinetic energy that glancing impact is dissipated reclaims, and is an important technology that improves the electric automobile energy degree of utilization.In this course, electrical motor uses as electrical generator, and the energy of recovery is stored in the battery with the form of electric energy.One of key issue that is faced in the electronlmobil research process is exactly that the specific energy of the battery that provides on the current market is lower, therefore causes the continual mileage of electronlmobil to compare with gasoline car.Address this problem, except will be technical the haveing breakthrough of this bottleneck of battery, also should optimize the general design and the energy management system of setting up highly effective and safe of electronlmobil, therefore electronlmobil is in development and development process, and how rationally use and energy savings just become the important topic that the designer faces.The braking energy feedback technology is the pioneering technology that at present domestic and international electronlmobil maker extensively adopts, and generally, by the auxiliary braking of motor, can greatly improve capacity usage ratio with braking procedure middle part separating vehicles recover kinetic energy to storage battery.The external at present advanced braking control system with regenerative braking function that proposes comprises: sharp this braking control system of Toyota-Pu, Honda-EV plus braking control system, these two kinds of brake system all are in order to add the feedback braking function original brake system to be carried out bigger transformation to form, these two kinds of systems can not only realize the braking energy feedback function, and can guarantee ABS under the limiting condition (anti-lock) function, can be by Control Software be improved and expanded function.Sharp this braking control system of Toyota-Pu, Honda-EV plus braking control system are being represented the forward position of feedback braking function development, and still, these systems all are to realize the braking energy feedback function to the brake system redesign.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of can on original brake system basis, the transformation, great braking energy feedback rate and braking anti-lock function can be realized simultaneously, and the H type piping layout energy feedback type electronlmobil skid control system for hygraulic brake of brake pedal feel can be improved.
For achieving the above object, the present invention takes following technical scheme: a kind of H type piping layout energy feedback type electronlmobil skid control system for hygraulic brake, it comprises pressure regulator, master brake cylinder, fluid reservoir, master cylinder push rod vacuum booster, stretcher, drive motor, brake controller and the entire car controller with ABS function, two brake pipings of described pressure regulator are arranged for the H type, be it is characterized in that: set up No. one high-speed switch valve on the pipeline between the off front wheel of described pressure regulator-the near front wheel brake circuit and the described master brake cylinder; Increase a branch road in described off front wheel-the near front wheel brake circuit with No. two high-speed switch valves, No. three high-speed switch valves and intermediate-pressure accumulator; One end of described No. two high-speed switch valves is connected on the pipeline between a described master brake cylinder and the described high-speed switch valve, the other end links to each other with an end of described No. three high-speed switch valves, the other end of described No. three high-speed switch valves is connected on the pipeline between dump pump described in off front wheel-the near front wheel brake circuit and the described low pressure accumulator, and described intermediate-pressure accumulator is connected on the pipeline between described No. two high-speed switch valves and described No. three high-speed switch valves; On the off hind wheel of described pressure regulator-left rear wheel brake circuit and the pipeline that described master brake cylinder links to each other a master cylinder pressure sensor is set; One pressure of wheel braking cylinder sensor is set respectively on described off front wheel wheel cylinder and the near front wheel wheel cylinder; Described master cylinder pressure sensor, pressure of wheel braking cylinder sensor and ABS oil return motor are by described brake controller control; Described drive motor is by described vehicle control unit controls; Described brake controller and described entire car controller communication and the common feedback braking function that realizes.
At pure electric vehicle, on the described master cylinder push rod vacuum booster electric vacuum pump is set.
Described pressure regulator comprises 11 electromagnetic valves, an ABS oil return motor, two high-tension dampers, two dump pumps, two low pressure accumulators, an intermediate-pressure accumulator, four brake wheel cylinders.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention utilizes traditional abs pressure regulating control and drive motor, sets up a high-speed switch valve between the abs pressure regulating control front wheel brake oil circuit of original H type piping layout and master brake cylinder; In the front wheel brake oil circuit, increase a branch road with two high-speed switch valves and an intermediate-pressure accumulator; On front wheel brake oil circuit and pipeline that master brake cylinder links to each other, a master cylinder pressure sensor is set; One pressure of wheel braking cylinder sensor is set respectively on two front-wheel wheel cylinders; During operation, front wheel brake and drive motor coordination, and during regenerative braking, master brake cylinder links to each other with intermediate-pressure accumulator, and separate with the front wheel brake oil circuit, promptly stretcher and intermediate-pressure accumulator interrelate, and directly and front wheel brake get in touch, so when drive motor is finished the energy feedback, the trampling sensation and also can not be affected of stretcher.2, the present invention only need simply transform the abs pressure regulating control in the motor vehicle braking system in the prior art, utilize the drive motor in motor vehicle driven by mixed power or the elec. vehicle, to Control Software carry out rationally, reliable design can realize, transform less to hydraulic brake system, braking energy feedback efficient height, brake pedal feel is good, has realized the integrated control of braking energy feedback and ABS.The present invention can realize braking energy feedback and the integrated control of ABS, do not influence the driving habit of chaufeur, deceleration and stopping performance meets laws and regulations requirement, improved Vehicle Economy, reduced the cost of development of motor vehicle driven by mixed power, pure electric vehicle system, improved the energy recovery efficiency in the braking procedure, therefore, can be widely used in the vehicle.
Description of drawings
Fig. 1 is a systematic schematic diagram of the present invention
The specific embodiment
Be described in detail of the present invention below in conjunction with drawings and Examples.
As shown in Figure 1, the present invention includes in the prior art, pressure regulator with ABS function, master brake cylinder 1, fluid reservoir 2, master cylinder push rod vacuum booster 3, stretcher 4, drive motor D, brake controller BCU, entire car controller VCU, wherein, pressure regulator with ABS function is a H type piping layout: it comprises off front wheel-the near front wheel brake circuit (front wheel brake oil circuit) and off hind wheel-left rear wheel brake circuit (trailing wheel brake circuit), include two wheel wheel cylinders on each brake circuit, four electromagnetic valves, a low pressure accumulator, a dump pump, a high-tension damper, the shared oil return motor of two-way brake circuit specifically is provided with as follows:
An oil outlet of master brake cylinder 1 links to each other with off front wheel-the near front wheel brake circuit of pressure regulator, and another oil outlet of master brake cylinder 1 links to each other with the off hind wheel of pressure regulator-left rear wheel brake circuit.
Off front wheel-the near front wheel brake circuit comprises: high-tension damper G1, dump pump P1, ABS oil return motor M, check valve S, low pressure accumulator A1, off front wheel reducing valve RF-RV, off front wheel pressure charging valve RF-IV, the near front wheel reducing valve LF-RV, the near front wheel pressure charging valve LF-IV, off front wheel wheel cylinder RF, the near front wheel wheel cylinder LF.
Off hind wheel-left rear wheel brake circuit comprises: high-tension damper G2, dump pump P2, ABS oil return motor M, low pressure accumulator A2, off hind wheel reducing valve RR-RV, off hind wheel pressure charging valve RR-IV, left rear wheel reducing valve LR-RV, left rear wheel pressure charging valve LR-IV, off hind wheel wheel cylinder RR, left rear wheel wheel cylinder LR.
ABS oil return motor M in above-mentioned off front wheel-the near front wheel brake circuit and off hind wheel-left rear wheel brake circuit is same, i.e. two shared ABS oil return motor M of brake circuit.
The annexation of each parts belongs to prior art in above-mentioned off front wheel-the near front wheel brake circuit and off hind wheel-left rear wheel brake circuit, no longer describes in detail at this.
The present invention has in the prior art between off front wheel-the near front wheel brake circuit of the pressure regulator of ABS function and the master brake cylinder 1 and sets up a high-speed switch valve A;
The present invention increases a branch road with high-speed switch valve B, high-speed switch valve C and an intermediate-pressure accumulator A0 in off front wheel-the near front wheel brake circuit; The end of high-speed switch valve B is connected on the pipeline between master brake cylinder 1 and the high-speed switch valve A, the other end links to each other with the end of high-speed switch valve C, the other end of high-speed switch valve C is connected in off front wheel-the near front wheel brake circuit on the pipeline between the dump pump P1 and low pressure accumulator A1, and intermediate-pressure accumulator A0 is connected on the pipeline between high-speed switch valve B and the high-speed switch valve C;
The present invention is provided with a master cylinder pressure sensor 5 on off hind wheel-left rear wheel brake circuit and pipeline that master brake cylinder 1 links to each other; The present invention is provided with pressure of wheel braking cylinder sensor WCP1 on off front wheel wheel cylinder RF, pressure of wheel braking cylinder sensor WCP2 is set on the near front wheel wheel cylinder LF.
In the foregoing description, the present invention can also be provided with an electric vacuum pump 6 on master cylinder push rod vacuum booster 3, and stretcher 4 directly links to each other with master cylinder push rod, to be applicable to pure electric vehicle.
Master cylinder pressure sensor 5 of the present invention, pressure of wheel braking cylinder sensor WCP1, WCP2 and the ABS oil return motor M to front-wheel, trailing wheel brake circuit fuel feeding are controlled by brake controller BCU; Drive motor D is controlled by entire car controller VCU; Brake controller BCU and entire car controller VCU communication, and realize the feedback braking function jointly.
The present invention has feedback braking function, ABS function, and feedback braking and the integrated controllable function of ABS, and the specific implementation process of each function is as follows:
1, feedback braking function implementation process
Suppose that electro-motive vehicle is a f-w-d, step on stretcher when chaufeur and implement glancing impact that high-speed switch valve A, B, C power on, intermediate-pressure accumulator A0, left rear wheel wheel cylinder LR, off hind wheel wheel cylinder RR rate of pressure change are consistent with the master cylinder pressure rate of change.
Master cylinder pressure sensor 5 detects the pressure value P and the master cylinder pressure rate of change Δ P/ Δ t of master brake cylinder 1, pass to brake controller BCU, brake controller BCU calculates the lock torque T of off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF and sends to entire car controller VCU by the CAN communication according to the P value, and entire car controller VCU can estimate the maximum feedback moment T that current drive motor D can provide
1(being equivalent to add reverse voltage and the lock torque that produces to drive motor D) also makes feedback moment necessarily to increase slope K
1From zero growth rate to T
1, brake controller BCU obtains T simultaneously
1, and necessarily to reduce slope K
1Reduce the pressure of off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF.
The pressure that reduces off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF is by off front wheel reducing valve RF-RV, off front wheel pressure charging valve RF-IV, the near front wheel reducing valve LF-RV, the near front wheel pressure charging valve LF-IV powers on and realizes, it is to realize by the control dutycycle that changes off front wheel pressure charging valve RF-IV and the near front wheel pressure charging valve LF-IV that the pressure of off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF reduces speed control, the control dutycycle of off front wheel pressure charging valve RF-IV and the near front wheel pressure charging valve LF-IV is big more, decompression rate is fast more, that is to say the growth of feedback moment and off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF pressure reduce carry out simultaneously, thereby make total braking force remain unchanged.
When T greater than T
1The time, with dutycycle control high-speed switch valve C, ABS oil return motor M, off front wheel pressure charging valve RF-IV, the near front wheel pressure charging valve LF-IV, make the braking liquid among intermediate-pressure accumulator A0 and the low pressure accumulator A1 enter the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF, this part hydraulic braking force is used to compensate T and T
1Difference; When T less than T
1The time, high-speed switch valve C, the equal no power of ABS oil return motor M, off front wheel pressure charging valve RF-IV, the near front wheel pressure charging valve LF-IV power on and close, with dutycycle control off front wheel reducing valve RF-RV and the near front wheel reducing valve LF-RV, when feedback force increases, the pressure of off front wheel wheel cylinder RF and the near front wheel wheel cylinder LF is reduced.
When the speed of a motor vehicle was low, the feedback moment that drive motor D produces diminished (this is by the decision of motor self character) gradually, and entire car controller VCU control feedback moment is with the slope K that reduces of-Ding
2Be reduced to zero from currency, when reducing gradually, feedback moment controls high-speed switch valve C, ABS oil return motor M, the near front wheel pressure charging valve LF-IV and off front wheel pressure charging valve RF-IV with dutycycle, make the braking liquid among intermediate-pressure accumulator A0, the low pressure accumulator A1 enter the near front wheel wheel cylinder LF, off front wheel wheel cylinder RF, to be same as K
2Slope (getting slope absolute value herein) increase the pressure of the near front wheel wheel cylinder LF, off front wheel wheel cylinder RF, up to parking, brake controller BCU reset all electromagnetic valves and ABS oil return motor.
2, ABS function implementation process
Because the feedback braking solution that the present invention proposes is transformed the traditional braking system, so it is different that ABS function implementation procedure and the ABS of traditional braking system function realize, two front-wheel wheel cylinder superchargings, pressurize, decompression process and two trailing wheel wheel cylinder superchargings, pressurize, decompression process are described respectively below.
Two front-wheel wheel cylinder pressurizations: high-speed switch valve A power down enters conducting state, the near front wheel pressure charging valve LF-IV and off front wheel pressure charging valve RF-IV power down enter conducting state, the near front wheel reducing valve LF-RV and off front wheel reducing valve RF-RV power down enter not on-state, ABS oil return motor M energising work.Two front-wheel pressure maintaining periods: the near front wheel pressure charging valve LF-IV and off front wheel pressure charging valve RF-IV power on and enter not on-state, and the near front wheel reducing valve LF-RV and off front wheel reducing valve RF-RV power down enter not on-state.Two front-wheel decompression processes: the near front wheel pressure charging valve LF-IV and off front wheel pressure charging valve RF-IV power on and enter not on-state, and the near front wheel reducing valve LF-RV and off front wheel reducing valve RF-RV power on and enter conducting state, ABS oil return motor M energising work.
Trailing wheel pressurization: identical with the conventional brake pressurization.The trailing wheel pressure maintaining period: left rear wheel pressure charging valve LR-IV and off hind wheel pressure charging valve RR-IV power on and enter not on-state, and left rear wheel reducing valve LR-RV and off hind wheel reducing valve RR-RV power down enter not on-state.The trailing wheel decompression process: left rear wheel pressure charging valve LR-IV and off hind wheel pressure charging valve RR-IV power on and enter not on-state, and left rear wheel reducing valve LR-RV and off hind wheel reducing valve RR-RV power on and enter conducting state, ABS oil return motor M energising work.
3, the integrated controllable function implementation process of feedback braking and ABS
Usually adopt feedback braking to brake to reach the purpose of recuperated energy when not having wheel lockup trend, prerequisite is that battery charging state (SOC) does not reach capacity, and when wheel has locking trend, must remove feedback braking as far as possible, and ABS begins to work.The control policy that the present invention proposes feedback braking scheme realization feedback braking and the integrated control of ABS is: set two slip rate threshold value S
1, S
2, and S
1Less than S
2, all wheel slips are all less than S
1The time, can the brake application feedback function; When monitoring certain wheel slip more than or equal to S
1The time, withdraw from the feedback braking function at once, reply conventional hydraulic braking; As wheel slip greater than S
2The time, the ABS control of access.
In braking procedure, drive motor D can be used as the electrical generator use in the electro-motive vehicle, thereby realizes braking energy feedback.Energy feedback type electronlmobil anti-blocking brake system is meant the braking requirement according to chaufeur, utilize drive motor to brake as much as possible to realize the energy feedback, when the drive motor braking is not enough to satisfy the chaufeur braking requirement, the abs pressure regulating control is rationally controlled braking requirement with undercompensation, not only satisfy safety but also can reclaim braking energy to greatest extent.
The feedback braking solution that the present invention proposes can obtain the brake pedal feel identical with traditional vehicle, this be because:
1) through improved pressure regulator front wheel brake loop, the control that when regenerative braking, has broken away from master brake cylinder 1, just broken away from and the getting in touch of stretcher 4, and the high-speed switch valve B that sets up, high-speed switch valve C and an intermediate-pressure accumulator A0, can be so that when trampling stretcher 4, intermediate-pressure accumulator A0 receives the oil that flows out from master brake cylinder 1, can be when unclamping stretcher 4, again oil is transmitted back to low pressure accumulator A1, makes when trampling stretcher 4 to feel comfortably cool.
2) during braking energy feedback, the braking force that drive motor D produces acts on the drive wheel, be the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF, meanwhile, the hydraulic braking force of the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF correspondingly reduces, and finally keeps total braking force (drive motor braking force+hydraulic braking force) constant.Reducing of two front-wheel hydraulic braking force by the realization that powers on to off front wheel pressure charging valve RF-IV, off front wheel reducing valve RF-RV, the near front wheel pressure charging valve LF-IV and the near front wheel reducing valve LF-RV, braking liquid flows into low pressure accumulator A1 the inside, when monitoring low pressure accumulator A0 can not hold braking liquid the time, ABS oil return motor M need be powered on, braking liquid among the low pressure accumulator A1 is drawn back to master brake cylinder 1 the inside.For the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF, take supercharging, pressurize, decompression control can not influence brake pedal feel, because the braking liquid of the near front wheel wheel cylinder LF and off front wheel wheel cylinder RF is among low pressure accumulator A1 and the intermediate-pressure accumulator A0, and front wheel brake loop and master brake cylinder 1 are kept apart by high-speed switch valve A.So, through improved hydraulic brake system, in the feedback braking process, can not make chaufeur feel the uncomfortable property of brake pedal.
The various embodiments described above only are used to illustrate the present invention, and wherein the structure of each parts, connection mode etc. all can change to some extent, and every equivalents of carrying out on the basis of technical solution of the present invention and improvement all should not got rid of outside protection scope of the present invention.
Claims (3)
1. H type piping layout energy feedback type electronlmobil skid control system for hygraulic brake, it comprises pressure regulator, master brake cylinder, fluid reservoir, master cylinder push rod vacuum booster, stretcher, drive motor, brake controller and the entire car controller with ABS function, two brake pipings of described pressure regulator are arranged for the H type, be it is characterized in that:
Set up No. one high-speed switch valve on the pipeline between the off front wheel of described pressure regulator-the near front wheel brake circuit and the described master brake cylinder; Increase a branch road in described off front wheel-the near front wheel brake circuit with No. two high-speed switch valves, No. three high-speed switch valves and intermediate-pressure accumulator; One end of described No. two high-speed switch valves is connected on the pipeline between a described master brake cylinder and the described high-speed switch valve, the other end links to each other with an end of described No. three high-speed switch valves, the other end of described No. three high-speed switch valves is connected on the pipeline between dump pump described in off front wheel-the near front wheel brake circuit and the described low pressure accumulator, and described intermediate-pressure accumulator is connected on the pipeline between described No. two high-speed switch valves and described No. three high-speed switch valves;
On the off hind wheel of described pressure regulator-left rear wheel brake circuit and the pipeline that described master brake cylinder links to each other a master cylinder pressure sensor is set; One pressure of wheel braking cylinder sensor is set respectively on described off front wheel wheel cylinder and the near front wheel wheel cylinder;
Described master cylinder pressure sensor, pressure of wheel braking cylinder sensor and ABS oil return motor are by described brake controller control; Described drive motor is by described vehicle control unit controls; Described brake controller and described entire car controller communication and the common feedback braking function that realizes.
2. H type piping layout energy feedback type electronlmobil skid control system for hygraulic brake as claimed in claim 1 is characterized in that: at pure electric vehicle, on the described master cylinder push rod vacuum booster electric vacuum pump is set.
3. H type piping layout energy feedback type electronlmobil skid control system for hygraulic brake as claimed in claim 1 or 2 is characterized in that: described pressure regulator comprises 11 electromagnetic valves, an ABS oil return motor, two high-tension dampers, two dump pumps, two low pressure accumulators, an intermediate-pressure accumulator, four brake wheel cylinders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110053564 CN102133891B (en) | 2011-03-07 | 2011-03-07 | H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110053564 CN102133891B (en) | 2011-03-07 | 2011-03-07 | H-shaped pipeline layout energy-feedback type hydraulic anti-lock brake system for electric vehicles |
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| CN102133891A true CN102133891A (en) | 2011-07-27 |
| CN102133891B CN102133891B (en) | 2013-05-22 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700537A (en) * | 2012-06-08 | 2012-10-03 | 清华大学 | Vehicle braking energy recovery system |
| CN102765378A (en) * | 2012-07-12 | 2012-11-07 | 清华大学 | Braking energy recycling device of electric automobile and method for controlling braking energy recycling device |
| CN102897157A (en) * | 2012-09-29 | 2013-01-30 | 浙江亚太机电股份有限公司 | Automobile anti-skid braking system with energy recovery function |
| CN105682980A (en) * | 2013-11-18 | 2016-06-15 | Ntn株式会社 | Antilock brake control device |
| CN107415918A (en) * | 2017-07-17 | 2017-12-01 | 安徽工程大学 | Brakes suitable for electric car |
| CN112572388A (en) * | 2021-01-04 | 2021-03-30 | 浙江力邦合信智能制动系统股份有限公司 | Redundant braking system |
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| DE2936852A1 (en) * | 1979-09-12 | 1981-04-02 | Robert Bosch Gmbh, 7000 Stuttgart | BRAKE LOCK PROTECTION DEVICE |
| CN101734164A (en) * | 2009-12-21 | 2010-06-16 | 清华大学 | Automobile composite braking system |
| CN101941430A (en) * | 2010-07-05 | 2011-01-12 | 清华大学 | Hydraulic braking system of four-wheel driven electric vehicle |
| US20110025121A1 (en) * | 2009-07-29 | 2011-02-03 | Mando Corporation | Electro-hydraulic brake system |
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| DE2936852A1 (en) * | 1979-09-12 | 1981-04-02 | Robert Bosch Gmbh, 7000 Stuttgart | BRAKE LOCK PROTECTION DEVICE |
| US20110025121A1 (en) * | 2009-07-29 | 2011-02-03 | Mando Corporation | Electro-hydraulic brake system |
| CN101734164A (en) * | 2009-12-21 | 2010-06-16 | 清华大学 | Automobile composite braking system |
| CN101941430A (en) * | 2010-07-05 | 2011-01-12 | 清华大学 | Hydraulic braking system of four-wheel driven electric vehicle |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102700537A (en) * | 2012-06-08 | 2012-10-03 | 清华大学 | Vehicle braking energy recovery system |
| CN102765378A (en) * | 2012-07-12 | 2012-11-07 | 清华大学 | Braking energy recycling device of electric automobile and method for controlling braking energy recycling device |
| CN102765378B (en) * | 2012-07-12 | 2014-07-30 | 清华大学 | Braking energy recycling device of electric automobile and method for controlling braking energy recycling device |
| CN102897157A (en) * | 2012-09-29 | 2013-01-30 | 浙江亚太机电股份有限公司 | Automobile anti-skid braking system with energy recovery function |
| CN105682980A (en) * | 2013-11-18 | 2016-06-15 | Ntn株式会社 | Antilock brake control device |
| CN107415918A (en) * | 2017-07-17 | 2017-12-01 | 安徽工程大学 | Brakes suitable for electric car |
| CN107415918B (en) * | 2017-07-17 | 2024-01-30 | 安徽工程大学 | Braking system suitable for electric vehicle |
| CN112572388A (en) * | 2021-01-04 | 2021-03-30 | 浙江力邦合信智能制动系统股份有限公司 | Redundant braking system |
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|---|---|
| CN102133891B (en) | 2013-05-22 |
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