CN103253256A - Electromobile electro-hydraulic composite braking system and braking controlling method thereof - Google Patents
Electromobile electro-hydraulic composite braking system and braking controlling method thereof Download PDFInfo
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- CN103253256A CN103253256A CN2013101514455A CN201310151445A CN103253256A CN 103253256 A CN103253256 A CN 103253256A CN 2013101514455 A CN2013101514455 A CN 2013101514455A CN 201310151445 A CN201310151445 A CN 201310151445A CN 103253256 A CN103253256 A CN 103253256A
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Abstract
The invention discloses an electromobile electro-hydraulic composite braking system and a braking controlling method of the electromobile electro-hydraulic composite braking system, and belongs to the technical field of automobile braking. The braking controlling method of the electro-hydraulic composite braking system determines whether braking is conducted by motor braking or composite braking of the motor braking and hydraulic braking through comparison between a pedal stroke and an original braking system maximum idle stroke and between the pedal stroke and a composite braking system maximum idle stroke. The composite braking system comprises a vacuum booster, a braking master cylinder, an idle stroke mechanical component, a composite braking controlling system, a motor controller, a hydraulic controlling unit and a motor, wherein the braking master cylinder and the idle stroke mechanical component are respectively connected with the vacuum booster, idle stroke of the idle stroke mechanical component is larger than the idle stroke of the original braking system, the composite braking controlling system is connected with the idle stroke mechanical component, the motor controller and the hydraulic controlling unit are respectively connected with the composite braking controlling system, the motor is connected with the motor controller and the hydraulic controlling unit is connected with the braking master cylinder. The electro-hydraulic composite braking system is little in modification of an original hydraulic braking system, and is simple and compact in structure. Meanwhile, feelings of a traditional braking pedal and feelings of braking of a driver are considered, and therefore the driver can keep a traditional driving habit.
Description
Technical field
The invention belongs to electronlmobil braking technology field, relate to a kind of brake system and braking method of electronlmobil.
Background technology
Recovering Waste Energy of Braking in Automobiles system (ERB) refers to that a kind of thermal power transfer that produces can be with automobile brake the time becomes mechanical energy and with its system that stores.Common brake energy recovering system scheme mainly contains two kinds at present: a kind of electronic control unit (ECU) that is to use is controlled hydraulic control unit, thereby revises the recovery of the control policy realization braking energy of its electronic control unit; Another kind is by using pedal sense simulator and independent Hydraulic Pump to realize the recovery of braking energy.
The advantage of first kind of scheme is that it structurally is close with controlling (ESC) system based on anti-skid brake system (ABS), the electronic stability of ECU and hydraulic control unit (HCU) at present, makes things convenient for maker to use ripe processing and manufacturing equipment and technology.But also there are some shortcomings in this technical scheme: first, in order to obtain higher pressure estimation precision and pressure control quality, in system, need to adopt more pressure sensor and linear scaling valve, used 6 pressure sensors and 6 linear scaling valves as first generation electron steering braking (ECB) system of Toyota Company, this will significantly increase the cost of system; Second, just need to reduce the number of pressure sensor and linear scaling valve in order to control cost, and this will cause the decline of some operating mode downforce estimation precision and pressure control quality, as second generation ECB system of Toyota, its pressure sensor and linear scaling valve number all are reduced to 2, but the estimation precision of pressure and control quality descend greatly.
Second kind of scheme then given up original brake system scheme, newly-increased pedal sense simulator.The advantage of this scheme is realized pedal and brake actuator full decoupled, and shortcoming is very big to the structure of original brake system and control policy change, almost is to abandon original brake system.In addition, system requirements is built the very high and coupling special quality high pressure accumulator of the operation pressure of potential source with the auxiliary control that realizes electric-hydraulic combined braking.Have only at present and have this proven technique product abroad, as continent-composite braking system (EHC), it has carried out redesign to realize the function of braking energy feedback, not only complex structure to brake system, and, so cost costliness also very high to manufacture process requirement.
Existing typical composite braking system control policy has two kinds, is respectively parallel braking strategy and tandem braking strategy.Parallel braking strategy is that regenerative brake power becomes certain proportionate relationship with brake-pedal travel in the basis of friction brake force stack regenerative brake power.The tandem braking strategy is under the situation that guarantees brake safe, preferentially carries out regenerative brake, reclaim braking energy as much as possible, and extra demand braking force is provided by friction brake force again.The characteristics of parallel strategy are simple in structure, realize that easily cost is lower, but the braking energy percent recovery are low, and brake feel is bad.The characteristics of tandem strategy are that energy recovery rate is bigger, but brake system and control policy are also comparatively complicated.
The quality of braking control policy evaluation method the most intuitively is brake pedal feel, and brake pedal feel is directly connected to vehicle braked safety and driver comfort.In traditional hydraulic brake system, pedal links to each other with vacuum booster and master brake cylinder by leverage.Step on brake pedal, overcome after the mechanism gap under the effect of vacuum booster, promote the master cylinder piston motion, the pipeline oil pressure raises and also promotes brake cylinder.Because the effect of vacuum servo, oil hydraulic system characteristic and system damping, the power of chaufeur pedal, stroke and speed have nothing in common with each other under the different braking operating mode, chaufeur is felt vehicle braked intensity from treadle effort and pedal stroke on the other hand, add the vehicle braked deceleration/decel, make chaufeur further adjust vehicle-state according to the vehicle-state feedback.Along with development of electronic technology, electronic control system is more and more used at automobile, owing to cancelled brake pedal and the direct of hydraulic main cylinder is connected, must adopt the treadle effort simulator to come the simulating brake pedal sense, assurance is to the certain feedback information of chaufeur.In order to make vehicle have the pedal sense same with conventional truck, must carry out the research of pedal sense with a mark post as brake system.Because brake pedal feel is the subjective assessment of chaufeur, its evaluation criterion comes from chaufeur, describes the sensation of brake pedal under a lot of situations with the shock extent of pedal sense.
Summary of the invention
The object of the present invention is to provide a kind of simple in structure, braking energy percent recovery height and the good electric-hydraulic combined brake system of electronlmobil and the brake control method thereof of brake feel.
In order to achieve the above object, solution of the present invention is:
The electric-hydraulic combined brake control method of a kind of electronlmobil may further comprise the steps:
(1) on the basis of brake system, increase the slack of pedal of brake system, adopt hydraulic braking and motor braking simultaneously, constitute the bigger composite braking system of idle travel;
(2) detect pedal stroke in real time, and described pedal stroke is compared with the size of described former brake system maximum empty stroke and described composite braking system maximum empty stroke respectively;
(3) determine by motor braking still by motor braking and hydraulic braking combination braking according to comparative result.
Described step (3) comprising:
(31) when described pedal stroke during less than the maximum empty stroke of described former brake system, the brakeless torque demand;
(32) when described pedal stroke was between described former brake system maximum empty stroke and the described composite braking system maximum empty stroke, the demand lock torque was all provided by motor braking;
(33) when described pedal stroke during greater than the maximum empty stroke of described composite braking system, the demand lock torque is provided jointly by motor braking moment and hydraulic braking moment.
The lock torque that motor provides in the described step (32) is:
T
des=T
emax·(S-S
0)/(S
1-s
0)
Wherein, T
DesAggregate demand lock torque for described composite braking system; T
EmaxBe the motor maximum braking moment of setting; S is pedal stroke, s
0Be the maximum empty stroke of described former brake system, s
1Maximum empty stroke for described composite braking system.
The lock torque that the moment that motor braking provides in the described step (33) and hydraulic braking provide is assigned as:
T
des=T
emax+T
pmax·(S-S
1)/(S
2-S
1)
Wherein, T
DesAggregate demand lock torque for described composite braking system; T
EmaxBe the motor maximum braking moment of setting; T
PmaxThe total maximum hydraulic pressure lock torque that provides for hydraulic braking; S is pedal stroke, s
1Be the maximum empty stroke of described composite braking system, s
2The maximum pedal stroke that works for hydraulic braking.
A kind of electric-hydraulic combined brake system of electronlmobil that realizes the electric-hydraulic combined brake control method of above-mentioned electronlmobil, the master brake cylinder that comprise vacuum booster, links to each other respectively with described vacuum booster and idle travel mechanical component, the composite brakig control system that links to each other with described idle travel mechanical component, the electric machine controller that links to each other with described composite brakig control system respectively and hydraulic control unit and the motor that links to each other with described electric machine controller; Described hydraulic control unit also links to each other with described master brake cylinder; Wherein, described idle travel mechanical component is that idle travel is greater than the mechanical component of slack of pedal in original brake system.
Described electric-hydraulic combined braking control system is for setting up separately or being integrated in the entire car controller.
Described idle travel mechanical component comprises the first brake pedal member, the second brake pedal member, pull back spring and angular-motion transducer; Wherein, the described first brake pedal member is the straight line rod member; The described second brake pedal member is the pedal that overlaps with the pivot center of the described first brake pedal member; The described first brake pedal member is connected by described pull back spring with the described second brake pedal member and transmits treadle effort.
Described pull back spring is cylindroid helical-coil compression spring.
The maximum motor braking force that the length of described pull back spring can provide according to described motor and the ratio of greatest requirements braking force are selected; Preferably, described pull back spring rigidity is selected by following formula:
Wherein, k is the rigidity of described pull back spring; F
0Be predetermincd tension, the elastic force of described pull back spring when namely pedal stroke is the maximum empty stroke; L be the described second brake pedal member from turning cylinder to the length of described pull back spring connecting place, be called the spring moving radius; θ
MaxBe maximum empty stroke angular transposition.
The maximum regeneration lock torque that the described motor of described default provides is in the torque capacity scope of described motor; Preferably, the rate of change of described motor braking moment satisfies following condition:
Wherein: T
EmaxBe the motor maximum braking moment of setting; T is the time of run of described motor; a
0Be the described motor braking moment variations rate absolute value upper limit;
Further preferred, described motor braking moment variations rate absolute value upper limit a
0Computing formula be:
a
0=10Mr
Wherein, M is complete vehicle quality, and r is radius of wheel.
Owing to adopt such scheme, the invention has the beneficial effects as follows: the present invention changes less, simple and compact for structure to original hydraulic brake system; Take into account simultaneously traditional braking pedal sense and the braking impression of chaufeur again, made chaufeur can keep traditional driving habit, guaranteed the subjective sensation that it is good.
Description of drawings
The structure principle chart of the electric-hydraulic combined brake system of electronlmobil in Fig. 1 embodiment of the invention;
The front view of idle travel mechanical component in Fig. 2 a embodiment of the invention;
The lateral plan of idle travel mechanical component in Fig. 2 b embodiment of the invention;
Braking torque is with the change curve of pedal stroke in Fig. 3 embodiment of the invention;
The diagram of circuit of brake control method in Fig. 4 embodiment of the invention;
Motor torque control diagram of curves in Fig. 5 embodiment of the invention.
In the accompanying drawing: 1, the first brake pedal member; 2, the second brake pedal member; 3, pull back spring; 4, angular-motion transducer; 5, former brake pedal is removed part; 6, vacuum booster; 7, master brake cylinder; 8, electric machine controller; 9, motor.
The specific embodiment
The present invention is further illustrated below in conjunction with the accompanying drawing illustrated embodiment.
The present invention proposes a kind of brake control method of in-line electric-hydraulic combined braking control system, and these method main contents are when the pedal stroke leading portion, and only motor carries out feedback control; When pedal stroke continued to increase afterwards, hydraulic braking got involved, with motor regenerative braking co-ordination.
This control method may further comprise the steps:
(1) on the basis of brake system, increase the braking idle travel of brake system, adopt hydraulic braking and motor braking simultaneously, constitute the bigger composite braking system of idle travel;
(2) detect pedal stroke in real time, and this pedal stroke is compared with the size of former brake system maximum empty stroke and composite braking system maximum empty stroke respectively;
(3) determine by motor braking still by motor braking and hydraulic braking combination braking according to comparative result.
Above-mentioned steps (3) also comprises:
(31) when pedal stroke during less than the maximum empty stroke of former brake system, the brakeless torque demand;
(32) when pedal stroke was between former brake system maximum empty stroke and the composite braking system maximum empty stroke, the demand lock torque was all provided by the motor regenerative brake;
(33) when pedal stroke during greater than composite braking system maximum empty stroke, the demand lock torque is provided jointly by motor regenerative braking moment and hydraulic braking moment.
The lock torque that motor provides in the above-mentioned steps (32) is:
T
des=T
emax·(S-S
0)l(S
1-s
0)
Wherein, T
DesAggregate demand lock torque for composite braking system; T
EmaxBe the maximum regenerative braking moment of the motor of setting; S is pedal stroke, s
0Be the maximum empty stroke of former brake system, S
1Maximum slack of pedal for composite braking system.
The lock torque that the moment that motor braking provides in the above-mentioned steps (33) and hydraulic braking provide is assigned as:
T
des=T
emax+T
pmax·(S-S
1)l(S
2-S
1)
Wherein, T
PmaxBe total maximum hydraulic pressure lock torque that hydraulic braking provides, S
2The maximum pedal stroke that works for hydraulic braking.
The invention allows for a kind of electric-hydraulic combined brake system of electronlmobil that realizes above-mentioned brake control method, the master brake cylinder 7 that this system comprises vacuum booster 6, link to each other with vacuum booster 6 respectively and idle travel mechanical component, the composite brakig control system that links to each other with the idle travel mechanical component, the electric machine controller that links to each other with the composite brakig control system respectively and hydraulic control unit and the motor 9 that links to each other with electric machine controller, hydraulic control unit also links to each other with master brake cylinder 7.Wherein, master brake cylinder 7 is hydraulic main cylinder, and the idle travel mechanical component is that idle travel is greater than the mechanical component of slack of pedal in original brake system; Electric-hydraulic combined braking control system can be set up separately, also can be integrated in the entire car controller.Figure 1 shows that the structure principle chart of this composite braking system.
In the present embodiment, the idle travel mechanical component is the electric-hydraulic combined brake pedal shown in Fig. 2 a and Fig. 2 b.This composite brakig pedal comprises the first brake pedal member 1, the second brake pedal member 2, pull back spring 3, angular-motion transducer 4.Wherein, the first brake pedal member 1 is the straight line rod member, and the non-rectilinear that also is the original pedal of removal partly is that Fig. 1 Central Plains brake pedal is removed the straight line portion that stays after the part 5; The second brake pedal member 2 is a new pedal, overlaps with the pivot center of the first brake pedal member 1.The above-mentioned first brake pedal member 1 is connected by pull back spring 3 with the second brake pedal member 2 and transmits treadle effort; Pull back spring 3 is cylindroid helical-coil compression spring, and with in the process of brake pedal playback, the auxiliary second brake pedal member 2 returns back to original position.
The length of above-mentioned pull back spring 3 and the selection of rigidity are the keys that influences the driver pedal sensation, can simulate good driving sensation by selecting the proper compression spring.The length of pull back spring 3 selects the maximum motor braking force that can provide according to motor braking and the ratio of greatest requirements braking force to select.Pull back spring 3 rigidity are selected by following formula:
Wherein, k is the rigidity of pull back spring 3; F
0Be predetermincd tension, i.e. the elastic force of pull back spring 3 when pedal stroke is the maximum empty stroke, it can be regulated by stop gear and the preloading spring of vacuum booster 6; The length that L is new treadle component 2 from turning cylinder to itself and pull back spring 3 connecting places is called the spring moving radius; θ
MaxBe maximum empty stroke angular transposition.
Selection by above parameter and dissimilar springs select the pedal sense that can simulate different soft and hard for use.Here the spring moving radius adopts the length specification of former brake pedal, maximum empty stroke angular displacement
MaxThe ratio of the maximum braking force that can provide according to motor braking and the maximum braking force of vehicle needs is selected.
When being applied to brake control method of the present invention in the composite braking system of the present invention, the displacement signal of pedal angular-motion transducer 4 is the input as the composite brakig control system, the composite brakig control system is calculated pedal stroke according to angular displacement signal, by comparing the maximum empty stroke of pedal stroke and former brake system and composite braking system, the braking force of the motor braking of computation requirement, and the motor braking power of demand sent to electric machine controller 8, thereby realize the control of motor braking power.As shown in Figure 1, the angular transposition of chaufeur brake pedal is smaller or equal to θ
MaxThe time, chaufeur just overcomes the idle travel of composite brakig pedal, and the composite brakig control system judges that be slight braking this moment, has only motor to brake at most.When pedal displacement surpasses θ
MaxThe time, chaufeur has overcome the braking idle travel, and be accompanied by the input of the treadle effort of chaufeur this moment, and hydraulic braking and motor braking carry out simultaneously.The present invention reclaims more multipotency for making motor more intervention braking in braking procedure, so increased by one section new idle travel at the idle travel of original brake system.But the idle travel that increases newly and motor regenerative braking system entails can change original brake pedal feel.
Fig. 3 has drawn the braking torque of composite braking system and former brake system respectively with the change curve of pedal stroke.Wherein, T
MaxMaximum total braking force square for composite braking system; O-s
0Idle travel section for former brake system; S
0~ S
1Increase section for the composite brakig slack of pedal; S
1~ S
2The total pedal stroke that works for hydraulic braking; T
PThe lock torque that is provided by hydraulic braking in the composite braking system is provided.At composite braking system, the same with traditional vehicle when chaufeur is just stepped on brake pedal, in former idle travel section brakeless torque demand.When pedal stroke sensor detects the idle travel s that brake-pedal travel reaches increase
0-s
1During section, the demand lock torque is all provided by the motor regenerative braking moment.When brake-pedal travel reaches S
1The time, the demand lock torque reaches the motor maximum braking moment T of setting
EmaxIf pedal stroke continues to increase, enter S afterwards
1~ S
2Section, then regenerative braking moment remains unchanged, and hydraulic braking moment gets involved, and the demand lock torque is provided jointly by regenerative braking moment and hydraulic braking moment.The diagram of circuit of this process as shown in Figure 4.
Because along with the carrying out of braking procedure, motor speed descends gradually, the change curve of the maximum regeneration braking force that motor can provide as shown in phantom in Figure 5, so should set motor maximum braking moment T
EmaxIn this scope.Since braking impact the sensation index be uncomfortable degree index with the increase of braking force rate of change absolute value variation, so the rate of change that motor braking power allows should be limited in the fixed range, namely
Wherein
Be the rate of change of motor braking moment, its absolute value is characterizing the longitudinal impact degree of vehicle, a
0Be the motor braking moment variations rate absolute value upper limit, can be calculated as follows:
a
0=10Mr
Wherein, M is complete vehicle quality, and r is radius of wheel.Set motor maximum braking moment T in the present embodiment
EmaxShown in solid line among Fig. 5.
During braking, the first brake pedal member 1 and the second brake pedal member 2 produce a relative angular displacement, the big I of relative angular displacement is regulated control by the preloading spring in the vacuum booster and stop gear, and when new pedal overcame this relative angular displacement, only motor carried out regenerative braking; When new pedal drove former pedal and produces displacement together, hydraulic braking got involved, with motor regenerative braking co-ordination.
The present invention proposes a kind of new electric-hydraulic combined brake system and the brake control method thereof that are applicable to electronlmobil, wherein brake control method adopts in-line braking method.When present invention can be implemented in the electronlmobil braking, the leading portion of brake-pedal travel motor feeding braking energy back; And when brake-pedal travel surpassed certain one stroke, hydraulic braking began to get involved.The present invention changes less, simple and compact for structure to original hydraulic brake system; Take into account simultaneously traditional braking pedal sense and the braking impression of chaufeur again, made chaufeur can keep traditional driving habit, guaranteed the subjective sensation that it is good.
The above-mentioned description to embodiment is can understand and apply the invention for ease of those skilled in the art.The person skilled in the art obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not breaking away from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (10)
1. electric-hydraulic combined brake control method of electronlmobil is characterized in that: may further comprise the steps:
(1) on the basis of brake system, increase the slack of pedal of brake system, adopt hydraulic braking and motor braking simultaneously, constitute the bigger composite braking system of idle travel;
(2) detect pedal stroke in real time, and described pedal stroke is compared with the size of described former brake system maximum empty stroke and described composite braking system maximum empty stroke respectively;
(3) determine by motor braking still by motor braking and hydraulic braking combination braking according to comparative result.
2. the electric-hydraulic combined brake control method of electronlmobil according to claim 1, it is characterized in that: described step (3) comprising:
(31) when described pedal stroke during less than the maximum empty stroke of described former brake system, the brakeless torque demand;
(32) when described pedal stroke was between described former brake system maximum empty stroke and the described composite braking system maximum empty stroke, the demand lock torque was all provided by motor braking;
(33) when described pedal stroke during greater than the maximum empty stroke of described composite braking system, the demand lock torque is provided jointly by motor braking moment and hydraulic braking moment.
3. the electric-hydraulic combined brake control method of electronlmobil according to claim 2 is characterized in that: the lock torque that motor provides in the described step (32) is:
T
des=T
emax·(S-S
O)/(S
1-s
o)
Wherein, T
DesAggregate demand lock torque for described composite braking system; T
EmaxBe the motor maximum braking moment of setting; S is pedal stroke, s
0Be the maximum empty stroke of described former brake system, S
1Maximum empty stroke for described composite braking system.
4. the electric-hydraulic combined brake control method of electronlmobil according to claim 2 is characterized in that: the lock torque that the moment that motor braking provides in the described step (33) and hydraulic braking provide is assigned as:
T
des=T
emax+T
pmax·(S-S
1)/(S
2-S
1)
Wherein, T
DesAggregate demand lock torque for described composite braking system; T
EmaxBe the motor maximum braking moment of setting; T
PmaxThe total maximum hydraulic pressure lock torque that provides for hydraulic braking; S is pedal stroke, S
1Be the maximum empty stroke of described composite braking system, S
2The maximum pedal stroke that works for hydraulic braking.
5. electric-hydraulic combined brake system of electronlmobil that realizes the electric-hydraulic combined brake control method of the described electronlmobil of claim 1 is characterized in that: the master brake cylinder that comprise vacuum booster, links to each other respectively with described vacuum booster and idle travel mechanical component, the composite brakig control system that links to each other with described idle travel mechanical component, the electric machine controller that links to each other with described composite brakig control system respectively and hydraulic control unit and the motor that links to each other with described electric machine controller; Described hydraulic control unit also links to each other with described master brake cylinder;
Wherein, described idle travel mechanical component is the mechanical component that increases idle travel.
6. the electric-hydraulic combined brake system of electronlmobil according to claim 5, it is characterized in that: described electric-hydraulic combined braking control system is for setting up separately or being integrated in the entire car controller.
7. the electric-hydraulic combined brake system of electronlmobil according to claim 5, it is characterized in that: described idle travel mechanical component comprises the first brake pedal member, the second brake pedal member, pull back spring and angular-motion transducer;
Wherein, the described first brake pedal member is the straight line rod member; The described second brake pedal member is the pedal that overlaps with the pivot center of the described first brake pedal member;
The described first brake pedal member is connected by described pull back spring with the described second brake pedal member and transmits treadle effort.
8. the electric-hydraulic combined brake system of electronlmobil according to claim 7, it is characterized in that: described pull back spring is cylindroid helical-coil compression spring.
9. the electric-hydraulic combined brake system of electronlmobil according to claim 8 is characterized in that: the maximum motor braking force that the length of described pull back spring can provide according to described motor and the ratio of greatest requirements braking force are selected;
Preferably, described pull back spring rigidity is selected by following formula:
Wherein, k is the rigidity of described pull back spring; F
0Be predetermincd tension, the elastic force of described pull back spring when namely pedal stroke is the maximum empty stroke; L be the described second brake pedal member from turning cylinder to the length of described pull back spring connecting place, be called the spring moving radius; θ
MaxBe maximum empty stroke angular transposition.
10. the electric-hydraulic combined brake system of electronlmobil according to claim 5, it is characterized in that: the maximum regeneration lock torque that the described motor of described default provides is in the torque capacity scope of described motor;
Preferably, the rate of change of described motor braking moment satisfies following condition:
Wherein: T
EmaxBe the motor maximum braking moment of setting; T is the time of run of described motor; a
0Be the described motor braking moment variations rate absolute value upper limit;
Further preferred, described motor braking moment variations rate absolute value upper limit a
0Computing formula be:
a
0＝10Mr
Wherein, M is complete vehicle quality, and r is radius of wheel.
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| CN106627538A (en) * | 2016-11-25 | 2017-05-10 | 航天重型工程装备有限公司 | Electric-hydraulic composite braking system |
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| CN103754207A (en) * | 2014-01-08 | 2014-04-30 | 同济大学 | Method for controlling double-motor electric-hydraulic composite brake system on basis of force control |
| CN103754207B (en) * | 2014-01-08 | 2017-02-08 | 同济大学 | Method for controlling double-motor electric-hydraulic composite brake system on basis of force control |
| CN104442414A (en) * | 2014-11-13 | 2015-03-25 | 奇瑞汽车股份有限公司 | Brake energy recycling control method |
| CN104442414B (en) * | 2014-11-13 | 2017-03-22 | 奇瑞汽车股份有限公司 | Brake energy recycling control method |
| US10551866B2 (en) | 2015-09-18 | 2020-02-04 | Kongsberg Power Products Systems I, Inc. | Pedal assembly with debris filtering mechanism |
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| CN107298087B (en) * | 2017-06-28 | 2019-11-29 | 奇瑞新能源汽车技术有限公司 | A kind of tandem brake energy recycling system and method |
| CN107298087A (en) * | 2017-06-28 | 2017-10-27 | 奇瑞汽车股份有限公司 | A kind of tandem brake energy-recuperation system and method |
| CN108583295A (en) * | 2018-04-26 | 2018-09-28 | 谭震 | A kind of electric brake system |
| CN109552297A (en) * | 2018-12-12 | 2019-04-02 | 内蒙古北方重型汽车股份有限公司 | Electric Motor Wheel mine car automatic brake control system and method |
| CN109910625A (en) * | 2019-03-04 | 2019-06-21 | 宁波吉利汽车研究开发有限公司 | A kind of hybrid vehicle energy recycling system and recovery method |
| CN109849680A (en) * | 2019-04-15 | 2019-06-07 | 贵州长江汽车有限公司 | A kind of hydraulic braking electric automobile energy recycling braking system and method |
| CN111332128A (en) * | 2020-04-02 | 2020-06-26 | 上海锐镁新能源科技有限公司 | Electric automobile series motor regenerative braking system and using method thereof |
| CN111332128B (en) * | 2020-04-02 | 2022-03-29 | 浙江威格镁汽车科技有限公司 | Electric automobile series motor regenerative braking system and using method thereof |
| CN113682147A (en) * | 2021-09-16 | 2021-11-23 | 航天重型工程装备有限公司 | Method and device for controlling electro-hydraulic composite pedal |
| CN113753001A (en) * | 2021-09-18 | 2021-12-07 | 江苏英拓动力科技有限公司 | Electro-hydraulic composite brake control system and method for electrically-driven tracked vehicle based on target deceleration |
| CN113978258A (en) * | 2021-11-11 | 2022-01-28 | 摩拜(北京)信息技术有限公司 | Braking method and device of electric vehicle and electric vehicle |
| CN113978258B (en) * | 2021-11-11 | 2024-02-02 | 摩拜(北京)信息技术有限公司 | Braking method and device of electric vehicle and electric vehicle |
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