CN102556056A - Double fuzzy energy control management system of hybrid power automobile - Google Patents
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Abstract
The invention provides a double fuzzy energy control management system of hybrid power automobiles. The system comprises a vehicle controller, a driving fuzzy controller and a brake fuzzy controller. The hybrid electric vehicle adopts a fuzzy control strategy of the driving fuzzy controller under the working conditions of starting, acceleration and navigation, and adopts a fuzzy control strategy of the brake fuzzy controller under the working conditions of brake or parking. The driving fuzzy controller uses a total demand output torque and a battery charge state value as the input, and uses an engine demand output torque as the output; the brake fuzzy controller uses a demanded vehicle speed and a total brake demand value as the input, and uses a motor brake force distribution scale factor as the output; and the vehicle controller transmits corresponding control signals to the engine controller, the motor controller and the brake controller. The fuel economy, the acceleration performance, the discharge performance and other aspects are all improved; the requirements on driving working conditions can be met, the brake energy can be recovered effectively; and the purposes of energy consumption reduction, pollution discharge and driving range increasing are reached.
Description
Technical field
The invention belongs to field of hybrid electric vehicles, particularly a kind of Double Fuzzy energy control and management system of hybrid vehicle.
Background technology
Along with becoming increasingly conspicuous of global environment and energy problem, the new automobile of exploitation anti-emission carburetor, low oil consumption has become the top priority of current automobile industry development.Under this background, the hybrid vehicle that merges traditional combustion engine automobile and electronlmobil advantage becomes anti-emission carburetor, the low energy consumption automobile of now tool application prospect.The energy management strategy is the chief component of hybrid vehicle, is the gordian technique that improves hybrid vehicle economy, dynamic property and minimizing discharge amount of exhaust gas.It is being to obtain an equitable breakdown between driving engine and the motor between each propulsion source that a kind of good energy management strategy can make gross energy, finally under the prerequisite that satisfies driveability and deceleration and stopping performance, makes fuel economy reach optimum.
The hybrid vehicle control policy that has proposed at present mainly contains: (1) limits the static logic thresholding control policy in engine operation district simply; (2) through calculating the instantaneous optimization control policy of relatively confirming the best operating point of driving engine and electrical motor in real time; (3) global optimum's control policy of application of optimal control theory and optimization method; This control policy is according to the difference of employed control method; Be divided into again based on the Multiple Objective Mathematical Programming method, based on the classic calculus of variations with based on three kinds of the energy management strategies of Bellman theory of dynamic programming, wherein the most ripe energy management strategy that is based on the Bellman theory of dynamic programming of research.Above-mentioned research has all improved hybrid vehicle energy management strategy to a certain extent, has improved vehicle performance, but also very unripe.Only carry out design-calculated logic threshold energy management strategy at present and in the actuals hybrid vehicle, obtained application based on engineering experience; But this method mainly relies on existing experience that the parameter initial value is set; In conjunction with " trial and error method " these parameters are adjusted; Though have certain practicality, can not guarantee the optimum matching of power system, can't make Full Vehicle System reach maximal efficiency.Global optimum's energy management strategy can be in the hope of the globally optimal solution of control variable (like the engine/motor torque), but these methods need driving cycle known, is difficult to be applied to real vehicle control.Instantaneous optimization energy management strategy can be realized that under the operating mode condition of unknown each fuel oil consumption constantly is minimum, but need a large amount of floating point operations, realizes comparatively difficulty.Because hybrid vehicle energy management policing issue is the quasi-representative multivariate nonlinear dynamic optimization problem of (not only comprising continuous variable but also comprise discrete variable); So difficulty obtains important breakthrough theoretically with a certain method, still there is not the technical bottleneck that the optimal solution that can be applicable to real vehicle control breaks through energy management strategy practicability, high performance at present.
Summary of the invention
Technical matters to be solved by this invention provides a kind of Double Fuzzy energy control and management system of hybrid vehicle; Adopt under the operating modes such as starting, quicken, cruise at hybrid vehicle and drive fuzzy control strategy; Under braking or parking operating mode, adopt the braking fuzzy control strategy; Not only satisfy the demand that drives operating mode, can effectively reclaim braking energy simultaneously, reach the purpose that cuts down the consumption of energy with blowdown, increase continual mileage.
The present invention solves the problems of the technologies described above the technical scheme that is adopted to be: a kind of Double Fuzzy energy control and management system of hybrid vehicle; The entire car controller that comprises the running of each power pack section of Control of Automobile and brake portion; Double Fuzzy energy control and management system also is provided with and drives fuzzy controller and braking fuzzy controller; Hybrid vehicle adopts the fuzzy control strategy that drives fuzzy controller under starting, acceleration and cruising condition, under braking or parking operating mode, adopt the fuzzy control strategy of braking fuzzy controller.Driving fuzzy controller switches through detecting Das Gaspedal and brake pedal with the braking fuzzy controller.
The power-transfer clutch detection module is connected with the driving fuzzy controller with the battery detecting module; Respectively detected aggregate demand output torque information and the input of battery state of charge value are driven fuzzy controller as fuzzy tactful basis for estimation, drive fuzzy controller and export engine demand output torque signal to entire car controller from its delivery port according to incoming signal and fuzzy strategy; The delivery port that drives fuzzy controller is connected with arithmetic and logic unit with the power-transfer clutch detection module; After asking difference, the engine demand output torque of driving fuzzy controller output and the detected aggregate demand output torque of power-transfer clutch detection module information via arithmetic and logic unit obtain motor demand output torque signal, and the input entire car controller; Entire car controller respectively the corresponding driving torque control signal is transferred to engine controller according to the signal of importing and motor controller carries out drive controlling.
Speed of a motor vehicle detection module is connected with the braking fuzzy controller with the brake pedal detection module; The demand speed information that will detect and calculate respectively and total braking force requirements input brake fuzzy controller be as the basis for estimation of fuzzy strategy, the braking fuzzy controller according to incoming signal with fuzzy strategy from its delivery port output motor brakig force distribution ratio coefficient to entire car controller; The delivery port of braking fuzzy controller is connected with arithmetic and logic unit with the brake pedal detection module; Ask difference to obtain the friction braking force signal with the total braking force requirements again after the motor braking power allocation proportion coefficient of braking fuzzy controller output and the detected total braking force requirements of brake pedal detection module multiply each other, and the result is imported entire car controller; Entire car controller respectively corresponding brake control signal is transferred to electric machine controller according to the signal of importing and brake controller carries out control of braking.
The signal that input drives fuzzy controller and braking fuzzy controller at first carries out change of scale, and it is transformed in the domain scope of requirement, and the value after the quantification is as the input of fuzzy inference system; The output that obtains through fuzzy inference system is through change of scale, is transformed to after the actual value output that drives fuzzy controller or braking fuzzy controller as input.
The domain of said driving fuzzy controller and braking input variable of fuzzy controller and output variable is divided into a plurality of fuzzy subsets.
It is trapezoidal subordinate function that the subordinate function of said driving fuzzy controller and braking input variable of fuzzy controller and output variable all adopts both sides, and the centre is that the method for triangular membership functions constitutes.
The engine demand output torque receives the constraint of aggregate demand torque among the present invention, and its size will guarantee that battery SOC is stabilized in the suitable scope, thereby improves the efficient and the service life of battery.The engine demand output torque after the fuzzy control strategy analysis, is sent to engine block with the value that obtains according to the size of input, obtains output torque by the aperture of engine controller controls throttle.Drive motor output torque in the fuzzy control strategy and be through with the difference of aggregate demand torque and the engine demand output torque input value as motor module, the control action of passing through electric machine controller obtains.
Total braking force mainly is made up of the braking force on the transmission shaft and friction brake force two parts, and friction brake force loses with the form of heat energy, has only the braking force on the transmission shaft could be as the regenerative brake power of hybrid vehicle, to battery charge.Motor braking power is the braking force on the transmission shaft, under the situation of not considering the loss on the transmission shaft, is regenerative brake power.
For avoiding battery overcharge, the electrical motor of hybrid vehicle is connected with storage battery through power consumption resistance, the two ends of the resistance that consumes energy also are connected to master cock, and the control end of master cock is connected with entire car controller.Motor braking power is made up of regenerative brake power and resistance consumption two parts.Regenerative brake power receives the influence of the maximum regenerative power of current battery; When receiving speed-slackening signal; If during the maximum regenerative power that the braking energy that provides of motor braking process is less than or equal to that battery allows; Then master cock is closed, and electric energy directly to battery charge, makes regenerating braking energy maximum without energy consumption resistance; If the braking energy that provides of motor braking process is during greater than maximum regenerative power that battery allowed, then master cock is broken off, and electric energy is added in the storage battery two ends through energy consumption resistance, avoids battery overcharge.
Driving fuzzy control strategy is input with torque of hybrid drive system aggregate demand and battery pack SOC; With the engine demand output torque is output; Obtain through steps such as fuzzy control quantification, obfuscation, subordinate function design, fuzzy rule formulation, ambiguity solutions; Realize the reasonable distribution of torque between driving engine and the motor, obtain the maximum fuel-economy performance of car load, minimum discharging and pulsation-free driving performance.The braking fuzzy control strategy is input with the total braking force and the demand speed of a motor vehicle; Motor braking power shared proportionality coefficient
in total braking force is output, to reach the effective recovery that realizes braking energy under the prerequisite that satisfies deceleration and stopping performance.
The invention has the beneficial effects as follows: drive fuzzy control strategy through the Advisor simulating, verifying; Can reduce the fuel oil consumption of hybrid vehicle more effectively than electric assist type energy management strategy; Improve the fuel-economy type, also can control battery SOC well simultaneously and be operated in the stable scope.Double Fuzzy energy control and management strategy is compared with the driving fuzzy control strategy through the Advisor simulating, verifying, all makes moderate progress at aspects such as fuel economy, acceleration capability, emission behavior.Adopt Double Fuzzy energy control and management strategy provided by the invention, not only can satisfy the demand that drives operating mode, can effectively reclaim braking energy simultaneously, reach the purpose that cuts down the consumption of energy with blowdown, increase continual mileage.
Description of drawings
Fig. 1 is a Double Fuzzy energy control and management strategy schematic diagram.
Fig. 2 drives fuzzy control operating strategy schematic diagram.
Fig. 3 is a braking fuzzy control operating strategy block diagram.
Mark among the figure; 1, entire car controller, 2, drive fuzzy controller, 3, the braking fuzzy controller, 4, the power-transfer clutch detection module; 5, battery detecting module, 6, arithmetic and logic unit, 7, engine controller, 8, motor controller; 9, speed of a motor vehicle detection module, 10, the brake pedal detection module, 11, brake controller, T
Req, the aggregate demand output torque, T
Ice, the engine demand output torque, T
m, motor demand output torque, n, the speed of a motor vehicle, N, total braking force requirements, α, motor braking power allocation proportion coefficient, SOC, battery state of charge value.
The specific embodiment
Specify embodiment of the present invention in conjunction with accompanying drawing and embodiment.
Double Fuzzy energy control and management strategy principle is as shown in Figure 1, and Double Fuzzy energy control and management system comprises the entire car controller 1 of each power pack section of Control of Automobile and brake portion running.When satisfying driving operating mode demand, should take into full account the energy recovery problem under the damped condition.Particularly; Hybrid vehicle is under starting, acceleration and cruising condition; The EMS of car load adopts the fuzzy control strategy that drives fuzzy controller 2 to realize, operates in damped condition such as deceleration, parking following time when hybrid vehicle, and braking energy is realized by friction braking, motor braking jointly; Motor should reclaim braking energy as much as possible, and this moment, the car load EMS adopted the fuzzy control strategy of braking fuzzy controller 3 to realize.Driving fuzzy controller 2 switches through detecting Das Gaspedal and brake pedal with braking fuzzy controller 3.Power-transfer clutch detection module 4 is connected detected aggregate demand output torque T with battery detecting module 5 with driving fuzzy controller 2 among Fig. 1
ReqWith two inputs of battery state of charge value (SOC) as driving fuzzy controller 2, and as fuzzy tactful basis for estimation.Should the aggregate demand output torque T of fuzzy strategy to import
ReqWith the condition of battery state of charge value (SOC), with engine demand output torque T as fuzzy reasoning
IceResult for fuzzy reasoning.Drive fuzzy controller 2 and after analyzing, obtain engine demand output torque T according to incoming signal and fuzzy strategy
Ice, and with the input of this value as entire car controller 1.Entire car controller 1 is according to the engine demand output torque T of input
Ice, the corresponding driving torque control signal is transferred to engine controller 7, obtain the T of demand through engine controller 7 controls
IceThe delivery port that drives fuzzy controller 2 is connected with arithmetic and logic unit 6 with power-transfer clutch detection module 4; After asking difference, the engine demand output torque signal of driving fuzzy controller 2 outputs and power-transfer clutch detection module 4 detected aggregate demand output torque information via arithmetics and logic unit 6 obtain motor demand output torque signal, and input entire car controller 1; Entire car controller 1 transfers to motor controller 8 according to the motor demand output torque signal of input with the corresponding driving torque control signal, obtains the torque of demand through motor controller 8 controls.
Speed of a motor vehicle detection module 9 is connected with braking fuzzy controller 3 with brake pedal detection module 10; The demand speed of a motor vehicle n that detects and calculate and by the input of the total braking force requirements N that obtains on the brake pedal as braking fuzzy controller 3, and as the basis for estimation of fuzzy strategy.Braking fuzzy controller 3 obtains motor braking power shared allocation proportion alpha in total braking force after according to incoming signal and fuzzy analysis of strategies, and with the input of this value as entire car controller 1.The delivery port of braking fuzzy controller 3 is connected with arithmetic and logic unit 6 with brake pedal detection module 10; Ask difference to obtain the friction braking force signal with the total braking force requirements again after the motor braking power allocation proportion coefficient of braking fuzzy controller 3 outputs and brake pedal detection module 10 detected total braking force requirements multiply each other, and the result is imported entire car controller 1; Entire car controller 1 transfers to electric machine controller 8 with corresponding brake control signal respectively according to the signal of importing and carries out control of braking with brake controller 11.
For avoiding battery overcharge, the electrical motor of hybrid vehicle is connected with storage battery through power consumption resistance, and the two ends of power consumption resistance also are connected to master cock, and the control end of master cock is connected with entire car controller; If during the maximum regenerative power that the braking energy that provides of motor braking process is less than or equal to that battery allows, then master cock is closed; If the braking energy that provides of motor braking process is during greater than maximum regenerative power that battery allowed, then master cock is broken off, and electric energy is added in the storage battery two ends through energy consumption resistance.
It is as shown in Figure 2 to drive fuzzy control operating strategy principle; Select the engine demand output torque as the output that drives fuzzy control; Will satisfy the requirement of driveability in the PHEV operational process, so the engine demand output torque receives the constraint of aggregate demand output torque, the size of engine demand output torque also will take into full account battery SOC and is stabilized in the suitable scope simultaneously; Guarantee the efficient and the service life of battery, the aggregate demand output torque T that therefore the power-transfer clutch detection module is exported
Req, the battery charge state value SOC that obtains of battery detecting module is as the input that drives fuzzy controller.After the fuzzy control strategy analysis, obtain the engine demand output torque according to the size of input, and the value that will obtain is sent to engine block, obtains the engine output torque of demand by the aperture of engine controller controls throttle.At this moment, with the difference of aggregate demand output torque and engine demand output torque input value, obtain the motor output torque that needs through the control action of electric machine controller as motor module.
For the input variable of reality, at first need carry out change of scale, it is transformed in the domain scope of requirement, the value after the quantification is as the input of fuzzy inference system.Need pass through change of scale equally for the output variable that obtains through fuzzy inference system, be transformed to after the actual value output that drives fuzzy controller or braking fuzzy controller as input.Then be that it is transformed in the scope of actual engine output torque for the engine demand output torque.
Because the demand output torque of driving engine receives aggregate demand output torque T
ReqWith the constraint of the current state-of-charge value SOC of battery, therefore T
ReqWith SOC as input variable of fuzzy controller, need be aggregate demand output torque T
Req, battery SOC and driving engine demand output torque T
IceQuantize.With the battery SOC is example, if actual input is Q
*, its variation range is [Q
* Min, Q
* Max], if the domain that requires is [Q
Min, Q
Max], adopt linear transformation, then the computing formula of the SOC value of battery after the conversion is shown in (1).Drive the actual change scope Q of fuzzy controller input variable SOC among the present invention
*Be [0 1], can the domain that require be set at [0 11].
In the formula, Q
Soc-value behind change of scale; K-factor of proportionality.
According to above-mentioned formula, the actual input value Q of battery SOC
*Value Q behind change of scale
SocBecome a certain numerical value in [0 11] scope, as the input of fuzzy inference system.
Because aggregate demand output torque T
Req, battery SOC and driving engine the actual change scope of demand output torque all be to begin by initial value of zero; Therefore the subordinate function of input, output variable all adopts the trapezoidal subordinate function in both sides; The centre is the method for designing of triangular membership functions, can all include any state of input, output variable like this, and it is many more to consider that again the fuzzy subset of input variable and output divides; The degree of refinement of control law is just high more; Control accurately more, the domain [0 11] of input variable and output variable is refined as 17 fuzzy subsets, guaranteed the precision of control.The aggregate demand output torque T of input
Req, battery charge state value SOC linguistic variable 17 fuzzy subsets are arranged respectively, thereby fuzzy inference rule has 17 * 17=289 bar, input variable is met the engine demand output torque of demand according to the fuzzy rule base of formulating.The design-calculated fuzzy control rule is as shown in the table.
The Traditional engine automobile is when slowing down or stop, and the energy on the transmission shaft loses with the heat energy form, causes the waste of resource.Motor is as one of propulsion source of hybrid vehicle; Its advantage is can four quadrant running; When slowing down or stop, can reclaim the part energy on the transmission shaft, when the hybrid vehicle glancing impact, motor has become electrical generator; Utilize the kinetic energy of automobile to produce electric energy, and can with the power storage that reclaims in storage battery for future use.Glancing impact, regeneration brake system and the friction braking system controlled by power electronic equipment act on simultaneously, not only reach the requirement of deceleration and stopping performance, and can realize the recycle of energy.
Braking fuzzy control operating strategy block diagram is as shown in Figure 3, and the braking force of PHEV mainly is made up of the braking force on the transmission shaft and friction brake force two parts, and friction brake force is divided into front-wheel friction brake force and trailing wheel friction brake force again.Friction brake force loses with the form of heat energy, has only the braking force on the transmission shaft could be as the regenerative brake power of hybrid vehicle, to battery charge.Braking fuzzy controller employing speed of a motor vehicle n and total braking force N according to the fuzzy inference rule of setting, are The reasoning results with motor braking power allocation proportion coefficient as the foundation of fuzzy reasoning.Control hydraulic braking and the motor braking and the driving engine anti-dragged brake of front and back wheel respectively according to the brakig force distribution situation by brake controller.
The relation of each several part braking force is suc as formula shown in (2) to (6):
（2）
（4）
In the formula,
is total braking force;
is the front-wheel friction braking;
is the trailing wheel friction brake force;
is the braking force on the transmission shaft;
is the proportionality coefficient of front wheel brake power in total braking force, determined by automobile rotational speed
;
is the proportionality coefficient of rear-wheel braking force in total braking force;
is the proportionality coefficient of braking force in total braking force on the transmission shaft.
In sum, only require to such an extent that the braking force shared proportionality coefficient
in total braking force on the transmission shaft can be tried to achieve braking force and the size of trailing wheel friction brake force on the rear propeller shaft.Owing to have only the braking force on the transmission shaft could be as the regenerative brake power of hybrid vehicle, under the situation of not considering the loss on the transmission shaft, the braking force on the transmission shaft be regenerative brake power.Therefore as long as obtain regenerative brake power shared proportionality coefficient
in total braking force, can be met the reasonable distribution of total braking force between front-wheel friction brake force, trailing wheel friction braking and regenerative brake power under the brake request.
The cooresponding control law of braking fuzzy control strategy is as shown in the table,
The motor braking proportionality coefficient α that obtains through fuzzy reasoning is NB, NM
_, NM, NM
+, a fuzzy quantity among the NS, adopt gravity model appoach that the output fuzzy quantity is carried out the ambiguity solution computing, obtain concrete motor braking proportionality coefficient according to formula (7).
In the formula, α
0Be exact value; α is a fuzzy value; A, b represent the upper lower limit value of the domain scope at proportionality coefficient α place respectively; The fuzzy set of C ' expression proportionality coefficient α;
It is the cooresponding subordinate function of fuzzy value α of proportionality coefficient.
Obtain to utilize formula (1) to carry out change of scale after the exact value of α it is become actual value output.Therefore the domain of the selectable proportionality coefficient α of the present invention is [0 1], and the value after the value behind the change of scale and reverse gelatinization is identical.
Promptly in hybrid vehicle, utilize the flow direction and the relations of distribution of demand power between driving engine and electrical motor of fuzzy Control energy based on the intelligent management strategy of fuzzy control; Can give full play to fuzzy control and not rely on system's precise math model; Real-time is good, and is strong to the time-varying system adaptive capacity, has plurality of advantages such as robustness preferably; Can improve the vehicle overall performance better, be a kind of energy management strategy that has popularizing application prospect.
Claims (5)
1. the Double Fuzzy energy control and management system of a hybrid vehicle; The entire car controller (1) that comprises the running of each power pack section of Control of Automobile and brake portion; It is characterized in that: Double Fuzzy energy control and management system also is provided with and drives fuzzy controller (2) and braking fuzzy controller (3); Hybrid vehicle adopts the fuzzy control strategy that drives fuzzy controller (2) under starting, acceleration and cruising condition, under braking or parking operating mode, adopt the fuzzy control strategy of braking fuzzy controller (3); Driving fuzzy controller (2) and braking fuzzy controller (3) switches through detecting Das Gaspedal and brake pedal;
Power-transfer clutch detection module (4) is connected with driving fuzzy controller (2) with battery detecting module (5); Respectively detected aggregate demand output torque and the input of battery state of charge value are driven fuzzy controller (2) as fuzzy tactful basis for estimation, drive fuzzy controller (2) and export engine demand output torque signal to entire car controller (1) from its delivery port according to incoming signal and fuzzy strategy; The delivery port and the power-transfer clutch detection module (4) that drive fuzzy controller (2) are connected with arithmetic and logic unit (6); After asking difference, the engine demand output torque signal of driving fuzzy controller (2) output and power-transfer clutch detection module (4) detected aggregate demand output torque information via arithmetic and logic unit (6) obtain motor demand output torque signal, and input entire car controller (1); Entire car controller (1) respectively the corresponding driving torque control signal is transferred to engine controller (7) according to the signal of importing and motor controller (8) carries out drive controlling;
Speed of a motor vehicle detection module (9) is connected with braking fuzzy controller (3) with brake pedal detection module (10); The speed of a motor vehicle that will detect and calculate respectively and total braking force requirements be as the input of braking fuzzy controller (3), braking fuzzy controller (3) according to incoming signal with fuzzy strategy from its delivery port output motor brakig force distribution ratio coefficient to entire car controller (1); The delivery port and the brake pedal detection module (10) of braking fuzzy controller (3) are connected with arithmetic and logic unit (6); Ask difference to obtain the friction braking force signal with the total braking force requirements again after the motor braking power allocation proportion coefficient of braking fuzzy controller (3) output and the detected total braking force requirements of brake pedal detection module (10) multiply each other, and the result is imported entire car controller (1); Entire car controller (1) respectively corresponding brake control signal is transferred to electric machine controller (8) according to the signal of importing and brake controller (11) carries out control of braking.
2. the Double Fuzzy energy control and management system of a kind of hybrid vehicle as claimed in claim 1; It is characterized in that: the signal that input drives fuzzy controller (2) and braking fuzzy controller (3) at first carries out change of scale; It is transformed in the domain scope of requirement, and the value after the quantification is as the input of fuzzy inference system; The output that obtains through fuzzy inference system is through change of scale, is transformed to after the actual value output that drives fuzzy controller (2) or braking fuzzy controller (3) as input.
3. the Double Fuzzy energy control and management system of a kind of hybrid vehicle as claimed in claim 2 is characterized in that: the said driving fuzzy controller (2) and the input variable of braking fuzzy controller (3) and the domain of output variable are divided into a plurality of fuzzy subsets.
4. the Double Fuzzy energy control and management system of a kind of hybrid vehicle as claimed in claim 2; It is characterized in that: it is trapezoidal subordinate function that the input variable of said driving fuzzy controller (2) and braking fuzzy controller (3) and the subordinate function of output variable all adopt both sides, and the centre is that the method for triangular membership functions constitutes.
5. the Double Fuzzy energy control and management system of a kind of hybrid vehicle as claimed in claim 1; It is characterized in that: the electrical motor of hybrid vehicle is connected with storage battery through power consumption resistance; The two ends of power consumption resistance also are connected to master cock, and the control end of master cock is connected with entire car controller; If during the maximum regenerative power that the braking energy that provides of motor braking process is less than or equal to that battery allows, then master cock is closed; If the braking energy that provides of motor braking process is during greater than maximum regenerative power that battery allowed, then master cock is broken off, and electric energy is added in the storage battery two ends through energy consumption resistance.
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