CN104442415B - Electric automobile electric braking and hydraulic braking coordinated control system - Google Patents

Electric automobile electric braking and hydraulic braking coordinated control system Download PDF

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Publication number
CN104442415B
CN104442415B CN201410719156.5A CN201410719156A CN104442415B CN 104442415 B CN104442415 B CN 104442415B CN 201410719156 A CN201410719156 A CN 201410719156A CN 104442415 B CN104442415 B CN 104442415B
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transfer gear
electric
slide block
braking
brake
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CN104442415A (en
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张焱
王群山
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Jiangsu University of Technology
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Jiangsu University of Technology
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00Electrodynamic brake systems for vehicles in general
    • B60L7/24Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
    • B60L7/26Controlling the braking effect

Abstract

The present invention provides a kind of electric automobile electric braking and hydraulic braking coordinated control system, including wheel hub, hydraulic brake assembly, wheel drive motors M and electrokinetic cell E, brake assemblies and electric braking coordination component;Electric braking coordination component includes that second fixes guide rail, single-side rack slide block, connecting rod, electric magnet, compression spring and brake pedal travel switch K;Electric automobile electric braking and the method for work of hydraulic braking coordinated control system, mainly by brake time wheel drive motors M to electrokinetic cell E reverse charging electric current by electric magnet produce plugging power coordinate mutually with hydraulic braking force, reduction hydraulic brake pressure.The present invention uses frame for movement to realize motor braking power and coordinates the most continuously, in real time with hydraulic braking force and coordinate regulation, and structure is relatively easy, cost is greatly reduced and functional reliability significantly improves.

Description

Electric automobile electric braking and hydraulic braking coordinated control system
Technical field
The present invention relates to electric vehicle brake technical field, be specifically related to a kind of electric automobile electric braking and hydraulic braking coordinated control system.
Background technology
Currently, along with the pay attention to day by day of energy-conserving and environment-protective, the use of electric automobile gradually increases.Brakes is one of vital system of automobile.Traditional automobile brake typically uses brake fluid system, and it can not realize energy regenerating, and brake(-holder) block frictional dissipation is very fast.At present, the brakes of electric automobile, in addition to some uses traditional brake fluid system, also there is the brakes using electric braking with hydraulic braking combination (or mixing), when one of its main purpose is to utilize brake, battery is charged by wheel drive motors, to realize the recovery of energy, save the energy.Such as Publication No. CN 1986272A, the Chinese patent literature of invention entitled " electric automobile combination braking control system and control method ", i.e. disclose one to be calculated by sensor acquisition signal and single-chip microcomputer, corresponding control proportioning valve output hydraulic pressure brake force, to realize the combination of electric braking and hydraulic braking;And for example Publication No. CN 101913352A, the Chinese patent literature of invention entitled " coordinated braking control method of electric automobile ", it remains a need for by steps such as signals collecting and single-chip microcomputer calculating to realize the cooperation of electric braking and hydraulic braking;For another example Publication No. CN 102310850A, the Chinese patent literature of invention entitled " braking system of electric car of energy regenerating can be braked ", it is still desirable to calculating based on the control that single-chip microcomputer is core and control.
In above-mentioned prior art, the electric braking for electric automobile mostly utilizes integrated manipulator (or similar single chip machine controlling circuit etc.) according to control logic set in advance with the control mode of hydraulic braking, signal according to sensor judges to draw the time of control, control the mode of executor's work, the times or frequency controlled etc. parameter, but associated actuator is controlled, its whole process needs to include gathering signal, judge, calculate, the steps such as execution, the regular hour is needed to postpone in the process, size according to motor braking power can not regulate the size of conventional hydraulic brake force in real time in real time;And, control process of the prior art is required for meeting certain condition and just controls executor's action, controls executor when meeting next condition again and carries out next step action, its control process be interrupted, discontinuous;It addition, its Control system architecture is relative complex, the electronic devices and components of use are more, and cost is more expensive and functional reliability reduces.
Summary of the invention
It is an object of the invention to: for the deficiencies in the prior art, it is provided that a kind of calculating without controller or single chip circuit is controlled, is made by frame for movement motor braking power and hydraulic braking force be adjusted in real time continuously within the specific limits, realizes Energy Efficient and reclaim and cost is the highest, the braking of the motor in electric automobile of reliable operation and hydraulic braking coordinated control system on the premise of ensureing automobile effective brake.
The technical scheme is that electric automobile electric braking and the hydraulic braking coordinated control system of the present invention, including wheel hub, hydraulic brake assembly, wheel drive motors M and electrokinetic cell E;Above-mentioned hydraulic brake assembly includes brake block, wheel cylinder, master cylinder and piston;Piston has connected piston ring and piston rod, and the piston ring of piston is movably disposed in master cylinder;One end of piston rod is fixing with piston ring to be connected, and the other end of piston rod stretches out outside master cylinder;It is structurally characterized in that: also include brake assemblies and electric braking coordination component;
Above-mentioned brake assemblies includes brake pedal, the first transfer gear, the second transfer gear, the 3rd transfer gear, the 4th transfer gear, first fixes guide rail and the two-sided rack slide block;
Brake pedal and the first transfer gear are in transmission connection;First transfer gear and the second transfer gear are in transmission connection, and the coaxial transmission of the second transfer gear and the 3rd transfer gear connects;First fixes guide rail is fixedly installed on electric automobile;The two-sided rack slide block is the slide block that upper and lower both sides are provided with the tooth bar being respectively cooperating with the 3rd transfer gear and the 4th transfer gear;The two-sided rack slide block is arranged on first and fixes on guide rail and first can be relied on to fix guide rail and move;3rd transfer gear is in transmission connection with the downside of the two-sided rack slide block;The upside of the two-sided rack slide block is in transmission connection with the 4th transfer gear;4th transfer gear stretches out with the piston rod of the piston of above-mentioned hydraulic brake assembly that the right-hand member outside master cylinder is fixing to be connected;
Electric braking coordination component includes that second fixes guide rail, single-side rack slide block, connecting rod, electric magnet, compression spring and brake pedal travel switch K;
Second fixes guide rail is fixedly installed on electric automobile;Single-side rack slide block is the slide block that downside is provided with the tooth bar coordinated with the 4th transfer gear;Single-side rack slide block is arranged on second and fixes on guide rail and second can be relied on to fix about guide rail to movement;Single-side rack slide block is in transmission connection with the 4th transfer gear of above-mentioned brake assemblies;The left end of connecting rod is fixing with the right-hand member of single-side rack slide block to be connected;Electric magnet includes housing, iron core and coil;Housing is the column member of hollow, the left side opening of housing;Coil is wrapped on housing;Iron core is arranged in housing, and can move left and right in housing;The right-hand member of connecting rod is connected by the opening of housing is fixing with the left side of iron core;The right-hand member of iron core in housing by being arranged on the right side inwall elastic abutment of the compression spring of right part and housing in housing;Brake pedal travel switch K is equipped with the brake pedal of above-mentioned brake assemblies;When brake pedal is not stepped on, brake pedal travel switch K is in closure state;When brake pedal is stepped on, brake pedal travel switch K is in open mode;
The positive pole conllinear of one end of brake pedal travel switch K, one end of coil and electrokinetic cell E;The negative pole of electrokinetic cell E electrically connects with one end of the power end of wheel drive motors M;The other end conllinear of the power end of the other end of brake pedal travel switch K, the other end of coil and wheel drive motors M.
Above-mentioned electric automobile electric braking and the method for work of hydraulic braking coordinated control system, comprise the following steps:
1. in electric automobile during traveling, when driver does not touches on the brake pedal, brake pedal travel switch K closes, and by the line short through magnet spool, electrokinetic cell E supplies electric drive running car to wheel drive motors M;Now the iron core in electric magnet is pressed in the opening side of housing of electric magnet by compression spring;
2. in electric automobile during traveling, when driver steps on brake pedal, brake pedal passes sequentially through the first transfer gear, the second transfer gear, 3rd transfer gear, the two-sided rack slide block and the 4th transfer gear drive piston to be moved to the left and produce hydraulic pressure in master cylinder, produce hydraulic braking force and act on wheel hub braking by brake block in this hydraulic conduction to wheel cylinder;Simultaneously, brake pedal travel switch K opens, wheel drive motors M is produced plugging power and is charged electrokinetic cell E by circuit, charging current produces magnetic field through coil in electric magnet, iron core is made to overcome the elastic force of compression spring to move right, iron core drives single-side rack slide block to move right by connecting rod, thus single-side rack slide block applies opposition to the right by the 4th transfer gear on piston, reduces the hydraulic brake pressure in master cylinder;
3. in electric automobile during traveling, when driver continues to step on brake pedal, the brake force being applied on wheel hub be hydraulic brake assembly produce hydraulic braking force and wheel drive motors M produce plugging power make a concerted effort;When speed is the fastest, the stalling current then produced in wheel drive motors M is the biggest, motor braking power is the biggest, the suction that electric magnet produces is the biggest, and the hydraulic pressure in master cylinder is the least, and hydraulic braking force is the least, thus when automobile high-speed is braked, increase motor braking power, reduce by the conventional friction brake force of hydraulic braking, thus reduce the abrasion of friction plate in conventional brake, improve the wheel drive motors M response rate to braking energy simultaneously;
4. in electric automobile during traveling, if the circuit of electric braking coordination component breaks down or electrokinetic cell E is in full power state, wheel drive motors M cannot be charged to electrokinetic cell E, in magnet spool, no current passes through, the left end that iron core is pressed in the housing of electric magnet by compression spring is motionless, thus single-side rack slide block does not moves, 4th transfer gear only makees pure rolling relative to single-side rack slide block, electric automobile is passed sequentially through the first transfer gear by brake pedal, second transfer gear, 3rd transfer gear, the two-sided rack slide block and the 4th transfer gear drive piston to be moved to the left and produce hydraulic pressure in master cylinder, this hydraulic conduction acts on wheel hub to generation hydraulic braking force in wheel cylinder by brake block and brakes, ensure traffic safety.
Above-mentioned electric braking coordination component also can use another embodiment, will compression spring remove, change nitrogen into, simultaneously, increase iron core sealing ring, the right part of iron core is provided with sealing ring mounting groove, and iron core sealing ring is arranged in the sealing ring mounting groove of iron core, thus is made up of a plenum space the right part of the housing of the right-hand member of iron core, sealing ring and electric magnet;Nitrogen is compressiblly arranged in this plenum space, and during work, the operation principle of nitrogen is similar to the spring in such scheme.
The present invention has a positive effect: the electric automobile electric braking of (1) present invention and hydraulic braking coordinated control system, use frame for movement to realize motor braking power to coordinate the most continuously, in real time with hydraulic braking force and coordinate regulation, without controlling as prior art needing calculated by collecting sensor signal, controller or single chip circuit, thus structure is relatively easy, cost is greatly reduced and also functional reliability significantly improves.(2) the electric automobile electric braking of the present invention and hydraulic braking coordinated control system, electric braking force and hydraulic braking force is made to be adjusted in real time continuously within the specific limits by frame for movement, eliminate prior art middle controller or single chip circuit to calculate and control and judge process, thus its coordinate braking ageing more preferably.(3) the electric automobile electric braking of the present invention and hydraulic braking coordinated control system, its motor braking power is with hydraulic braking force inversely, when when i.e. motor braking power increases, hydraulic braking force reduction, motor braking power reduce, hydraulic braking force increases, make a concerted effort to meet in the case of automobile brake requires in the braking both ensureing, the response rate of braking energy in braking procedure can be improved and can reduce again the loss of conventional brake friction plate.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of the present invention;
Fig. 2 is the another kind of structural representation of the present invention.
Reference in above-mentioned accompanying drawing is as follows:
Wheel hub 1,
Hydraulic brake assembly 2, brake block 21, wheel cylinder 22, master cylinder 23, piston 24,
Brake assemblies 3, brake pedal 31, the first transfer gear 32, the second transfer gear 33, the 3rd transfer gear 34, the 4th transfer gear 35, first fixes guide rail 36, the two-sided rack slide block 37,
Electric braking coordination component 4, second fixes guide rail 41, single-side rack slide block 42, connecting rod 43, electric magnet 44, housing 44-1, iron core 44-2, coil 44-3, compression spring 45, brake pedal travel switch K, iron core sealing ring 46, nitrogen 47,
Wheel drive motors M,
Electrokinetic cell E.
Detailed description of the invention
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings.
(embodiment 1)
See Fig. 1, the electric automobile electric braking of the present embodiment and hydraulic braking coordinated control system, mainly it is made up of wheel hub 1, hydraulic brake assembly 2, brake assemblies 3, electric braking coordination component 4, wheel drive motors M and electrokinetic cell E.
Hydraulic brake assembly 2 is mainly made up of brake block 21, wheel cylinder 22, master cylinder 23 and piston 24.Brake block 21 and wheel cylinder 22 are the most each on each wheel hub 1 of automobile arranges 1 set;Master cylinder 23 is arranged on automobile, and piston 24 has connected piston ring and piston rod, and the piston ring of piston 24 is movably disposed in master cylinder 23;One end of piston rod is fixing with piston ring to be connected, and the other end of piston rod stretches out to the right outside master cylinder 23.
Brake assemblies 3 is main by brake pedal the 31, first transfer gear the 32, second transfer gear the 33, the 3rd transfer gear the 34, the 4th transfer gear 35, and first fixes guide rail 36 and the two-sided rack slide block 37 forms.
The top of brake pedal 31 is respectively and fixedly installed in same rotating shaft with the center of the first transfer gear 32, so that brake pedal 31 is coordinated with the first transfer gear 32 transmission by rotating shaft;First transfer gear 32 and the second transfer gear 33 are in transmission connection, and the second transfer gear 33 is coaxially connected with the 3rd transfer gear 34;First fixes guide rail 36 is fixedly installed on electric automobile;The two-sided rack slide block 37 is the slide block that upper and lower both sides are provided with the tooth bar being respectively cooperating with the 3rd transfer gear 34 and the 4th transfer gear 35;The two-sided rack slide block 37 is arranged on first and fixes on guide rail 36 and first can be relied on to fix guide rail and move;3rd transfer gear 34 is in transmission connection with the downside of the two-sided rack slide block 37;The upside of the two-sided rack slide block 37 is in transmission connection with the 4th transfer gear 35;4th transfer gear 35 is fixing with the right-hand member stretched out outside master cylinder 23 of the piston rod of the piston 24 of aforesaid hydraulic brake assembly 2 to be connected.
Electric braking coordination component 4 is mainly fixed guide rail 41, single-side rack slide block 42, connecting rod 43, electric magnet 44, compression spring 45 and brake pedal travel switch K by second and is formed.
Second fixes guide rail 41 is fixedly installed on electric automobile;Single-side rack slide block 42 is provided with the slide block of the tooth bar coordinated with the 4th transfer gear 35 for side;Single-side rack slide block 42 is arranged on second and fixes on guide rail 41 and second can be relied on to fix guide rail about 41 to movement;Single-side rack slide block 42 is in transmission connection with the 4th transfer gear 35 of brake assemblies 3;The left end of connecting rod 43 is fixing with the right-hand member of single-side rack slide block 42 to be connected;Electric magnet 44 includes housing 44-1, iron core 44-2 and coil 44-3;Housing 44-1 is the column member of hollow, the left side opening of housing 44-1;Coil 44-3 is wrapped on housing 44-1;Iron core 44-2 is arranged in housing 44-1, and can move left and right in housing 44-1;The right-hand member of connecting rod 43 is connected by the opening of housing 44-1 is fixing with the left side of iron core 44-2, thus passes through connecting rod 43 and realize being in transmission connection of iron core 44-2 and single-side rack slide block 42;The right-hand member of iron core 44-2 is the right side inwall elastic abutment of compression spring 45 with housing 44-1 by being arranged on right part in housing 44-1 in housing 44-1.Brake pedal travel switch K is equipped with the brake pedal 31 of aforesaid brake assemblies 3;When brake pedal 31 is not stepped on, brake pedal travel switch K is in closure state;When brake pedal 31 is stepped on, brake pedal travel switch K is in open mode.
The positive pole conllinear of one end of brake pedal travel switch K, one end of coil 44-3 and electrokinetic cell E;The negative pole of electrokinetic cell E electrically connects with one end of the power end of wheel drive motors M;The other end electrical connection of the power end of the other end of brake pedal travel switch K, the other end of coil 44-3 and wheel drive motors M.
The electric automobile electric braking of the present embodiment and hydraulic braking coordinated control system, its method of work comprises the following steps:
1. in electric automobile during traveling, when driver does not touches on the brake pedal 31, brake pedal travel switch K closes, and by the line short of the coil 44-3 through electric magnet 44, electrokinetic cell E supplies electric drive running car to wheel drive motors M;Now the iron core 44-2 in electric magnet 44 is pressed in the opening side of housing 44-1 of electric magnet 44 by compression spring 45;
2. in electric automobile during traveling, when driver steps on brake pedal 31, brake pedal 31 passes sequentially through first transfer gear the 32, second transfer gear 33,3rd transfer gear 34, the two-sided rack slide block 37 and the 4th transfer gear 35 drives piston 24 to be moved to the left and produces hydraulic pressure in master cylinder 23, produce hydraulic braking force and act on wheel hub 1 by brake block 21 and brake in this hydraulic conduction to wheel cylinder 22;Simultaneously, brake pedal travel switch K opens, wheel drive motors M is produced plugging power and is charged electrokinetic cell E by circuit, charging current produces magnetic field through coil 44-3 in electric magnet 44, iron core 44-2 is made to overcome the elastic force of compression spring 45 to move right, iron core 44-2 drives single-side rack slide block 42 to move right by connecting rod 43, thus single-side rack slide block 42 applies opposition to the right by the 4th transfer gear 35 on piston 24, reduce the hydraulic brake pressure in master cylinder 23.
3. in electric automobile during traveling, when driver continues to step on brake pedal 31, be applied to the brake force on wheel hub 1 be hydraulic brake assembly 2 produce hydraulic braking force and wheel drive motors M produce plugging power make a concerted effort;When speed is the fastest, the stalling current then produced in wheel drive motors M is the biggest, motor braking power is the biggest, the suction that electric magnet 44 produces is the biggest, and the hydraulic pressure in master cylinder 23 is the least, and hydraulic braking force is the least, thus when automobile high-speed is braked, increase motor braking power, reduce by the conventional friction brake force of hydraulic braking, thus reduce the abrasion of friction plate in conventional brake, improve the wheel drive motors M response rate to braking energy simultaneously.
null4. in electric automobile during traveling,If the circuit of electric braking coordination component 4 breaks down or electrokinetic cell E is in full power state,Wheel drive motors M cannot be charged to electrokinetic cell E,In the coil of electric magnet 44, no current passes through,The left end that iron core 44-2 is pressed in the housing 44-1 of electric magnet 44 by compression spring 45 is motionless,Thus single-side rack slide block 42 does not moves,4th transfer gear 35 only makees pure rolling relative to single-side rack slide block 42,Electric automobile is passed sequentially through the first transfer gear 32 by brake pedal 31、Second transfer gear 33,3rd transfer gear 34、The two-sided rack slide block 37 and the 4th transfer gear 35 drive piston 24 to be moved to the left and produce hydraulic pressure in master cylinder 23,This hydraulic conduction acts on wheel hub 1 to generation hydraulic braking force in wheel cylinder 22 by brake block 21 and brakes,Ensure traffic safety.
(embodiment 2)
See Fig. 2, the electric automobile electric braking of the present embodiment and hydraulic braking coordinated control system, other aspects are same as in Example 1, difference is: compression spring 45 is removed by electric braking coordination component 4, change nitrogen 47 into, simultaneously, add iron core sealing ring 46, the right part of the iron core 44-2 of electric magnet 44 sets up sealing ring mounting groove, iron core sealing ring 46 is arranged in the sealing ring mounting groove of iron core 44-2, thus is constituted a plenum space by the right part inner chamber of the housing 44-1 of the right-hand member of iron core 44-2, iron core sealing ring 46 and electric magnet 44;Nitrogen 47 is compressiblly arranged in this plenum space, and during work, the operation principle of nitrogen 47 is similar to the spring 45 in embodiment 1.
Above example is the explanation of the detailed description of the invention to the present invention; rather than limitation of the present invention; person skilled in the relevant technique is without departing from the spirit and scope of the present invention; can also make various conversion and change and obtain the technical scheme of corresponding equivalent, the technical scheme of the most all equivalents all should be included into the scope of patent protection of the present invention.

Claims (1)

1. electric automobile electric braking and a hydraulic braking coordinated control system, including wheel hub (1), hydraulic brake assembly (2), wheel drive motors M and electrokinetic cell E;Described hydraulic brake assembly (2) includes brake block (21), wheel cylinder (22), master cylinder (23) and piston (24);Piston (24) has connected piston ring and piston rod, and the piston ring of piston (24) is movably disposed in master cylinder (23);One end of piston rod is fixing with piston ring to be connected, and the other end of piston rod stretches out master cylinder (23) outward;It is characterized in that: also include brake assemblies (3) and electric braking coordination component (4);
Described brake assemblies (3) includes brake pedal (31), the first transfer gear (32), the second transfer gear (33), the 3rd transfer gear (34), the 4th transfer gear (35), first fixes guide rail (36) and the two-sided rack slide block (37);
Brake pedal (31) is in transmission connection with the first transfer gear (32);First transfer gear (32) is in transmission connection with the second transfer gear (33), and the second transfer gear (33) is connected with the coaxial transmission of the 3rd transfer gear (34);First fixes guide rail (36) is fixedly installed on electric automobile;The two-sided rack slide block (37) is the slide block that upper and lower both sides are provided with the tooth bar being respectively cooperating with the 3rd transfer gear (34) and the 4th transfer gear (35);The two-sided rack slide block (37) is arranged on first and fixes on guide rail (36) and first can be relied on to fix guide rail (36) movement;3rd transfer gear (34) is in transmission connection with the downside of the two-sided rack slide block (37);The upside of the two-sided rack slide block (37) is in transmission connection with the 4th transfer gear (35);4th transfer gear (35) stretches out with the piston rod of the piston (24) of described hydraulic brake assembly (2) that master cylinder (23) right-hand member outward is fixing to be connected;
Electric braking coordination component (4) includes that second fixes guide rail (41), single-side rack slide block (42), connecting rod (43), electric magnet (44), compression spring (45) and brake pedal travel switch K;
Second fixes guide rail (41) is fixedly installed on electric automobile;Single-side rack slide block (42) is the slide block that downside is provided with the tooth bar coordinated with the 4th transfer gear (35);Single-side rack slide block (42) is arranged on second and fixes on guide rail (41) and second can be relied on to fix guide rail (41) left and right to movement;Single-side rack slide block (42) is in transmission connection with the 4th transfer gear (35) of described brake assemblies (3);The left end of connecting rod (43) is fixing with the right-hand member of single-side rack slide block (42) to be connected;Electric magnet (44) includes housing (44-1), iron core (44-2) and coil (44-3);Housing (44-1) is the column member of hollow, the left side opening of housing (44-1);Coil (44-3) is wrapped on housing (44-1);Iron core (44-2) is arranged in housing (44-1), and can move left and right in housing (44-1);The right-hand member of connecting rod (43) is connected by the opening of housing (44-1) is fixing with the left side of iron core (44-2);The right-hand member of iron core (44-2) in housing (44-1) by being arranged on the right side inwall elastic abutment of the compression spring (45) of right part and housing (44-1) in housing (44-1);Brake pedal travel switch K is equipped with the brake pedal (31) of described brake assemblies (3);When brake pedal (31) is not stepped on, brake pedal travel switch K is in closure state;When brake pedal (31) is stepped on, brake pedal travel switch K is in open mode;
One end of brake pedal travel switch K, one end of coil (44-3) and the positive pole conllinear of electrokinetic cell E;The negative pole of electrokinetic cell E electrically connects with one end of the power end of wheel drive motors M;The other end conllinear of the power end of the other end of brake pedal travel switch K, the other end of coil (44-3) and wheel drive motors M.
CN201410719156.5A 2014-12-01 2014-12-01 Electric automobile electric braking and hydraulic braking coordinated control system Active CN104442415B (en)

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CN201610301162.8A CN105946591B (en) 2014-12-01 2014-12-01 The electric automobile electric braking of low cost and hydraulic braking coordinated control system

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CN104875734A (en) * 2014-12-30 2015-09-02 朱海燕 Electromobile with electric brake and hydraulic brake coordinated control system
CN104875621A (en) * 2014-12-30 2015-09-02 朱海燕 Electromobile with brake energy recovery system
CN104859462A (en) * 2014-12-30 2015-08-26 朱海燕 Brake energy recovering method for electromobile

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