CN101830184A - Electric locomotive with transmission control between motor and wheel - Google Patents
Electric locomotive with transmission control between motor and wheel Download PDFInfo
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- CN101830184A CN101830184A CN201010166570A CN201010166570A CN101830184A CN 101830184 A CN101830184 A CN 101830184A CN 201010166570 A CN201010166570 A CN 201010166570A CN 201010166570 A CN201010166570 A CN 201010166570A CN 101830184 A CN101830184 A CN 101830184A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses an electric locomotive with a motor and wheels capable of being controlled by transmission, which at least comprises the motor, a starting switch, an accelerating device, a control circuit, a driving circuit and the wheels, wherein the motor and the wheels can be mutually driven, the driving mode and the power generation mode are switched, the driving mode is prior to the power generation mode so as to avoid the dangers of unsmooth running, uncomfortable riding and power loss, and the locomotive is dragged to have micro-power assistance of a traction mode so as to drive the wheels, so that the traction of the forward and backward movement of the vehicle can be easily operated.
Description
Technical field
The present invention relates to a kind of electric locomotive, be meant that especially a kind of electrical motor also can be by the electric locomotive of the control of transmission each other between the electrical motor of wheel drive rotation and wheel.
Background technology
At present, the manufacturing technology of electric locomotive has been in lasting progress and the development, noticeable part still is confined to its technology that is relevant to the battery aspect, technology such as electric power storage, charging aspect, yet, with still most of continuing to use existing locomotive in the relevant technologies that the peripheral unit of electric locomotive combines, just existing is that the peripheral techniques of the locomotive of power is main with the engine.
Existing generation mode has a change-over switch, drive pattern or power generation mode with manual switchover electrical motor (as motor), and be constant load generating when entering power generation mode, can cause the variation of big impedance of moment, cause driving to have some setbacks and drive uncomfortable.
Moreover change-over switch can be arranged on the tap handle, sets for the driver, but when change-over switch produces unusual or misoperation, can cause electric locomotive to run out of steam, and produces no expected danger.
In addition, the electric locomotive of transmission each other between this kind electrical motor and wheel, advance or retreat lead car the time, can be because of the passive rotation of the rotation drive motor of wheel, this transmission or because of the frictional resistance of mechanism between driving system, or the cogging torque (Coggingtorque) that produces because of electrical motor itself waits and makes the driver must expend more strength to remove to lead car, the inconvenience of ten minutes.
So, how to avoid aforementioned disappearance, be a present instant problem on the problem of electric locomotive.
Summary of the invention
Main purpose of the present invention provides the electric locomotive that transmission is each other controlled between a kind of electrical motor and wheel, the switching between drive pattern and power generation mode is arranged, and drive pattern has precedence over power generation mode.
An of the present invention purpose is to carry out with the incremental generating when power generation mode, has some setbacks to avoid driving.
A further object of the present invention is a changeable one-tenth power generation mode when brake, and the auxiliary force of electrical motor brake (being similar engine brake) is arranged, and produces the electric power recharging galvanic action simultaneously in the lump.
Another object of the present invention is to be to provide a kind of being in to lead under the car state, can provide the traction mode of auxiliary power slightly, to alleviate the inconvenience that vehicle affects.
Therefore, the present invention is for reaching above-mentioned purpose, provide the electric locomotive of the control of transmission each other between a kind of electrical motor and wheel, this electric locomotive comprises an electrical motor, a starting switch, a control circuit, an acceleration device, one drive circuit and wheel at least, being connected for transmission each other between this electrical motor and wheel, and between drive pattern, power generation mode, switch, and this drive pattern has precedence over this power generation mode.
The invention has the beneficial effects as follows: the present invention adopts between electrical motor and wheel drive control mode each other, make and between drive pattern, power generation mode, to switch, and drive pattern has precedence over the control of power generation mode, it when power generation mode the generating of incremental, can avoid driving to have some setbacks, drive uncomfortable etc., and, one can produce the brake circuits of brake signal, brake under certain condition is changeable to be power generation mode, has the brake auxiliary force of electrical motor brake (being similar engine brake) also to form the generating effect in the lump; In addition, but the auxiliary power that following of traction mode provides drive wheels to rotate, vehicle is advanced or retreat lead row, gently power can be reached and is easy to lead car and operates.
Description of drawings
Fig. 1 is the structural representation of one embodiment of the invention;
Fig. 2 is the diagram of circuit that the present invention automatically switches on drive pattern and power generation mode;
Fig. 3 is the curve synoptic diagram of the incremental power generation values that provides of control circuit of the present invention;
Fig. 4 is the diagram of circuit that drive pattern of the present invention has precedence over power generation mode;
Fig. 5 is the diagram of circuit of the present invention in a traction mode;
Fig. 6 is the PWM of the present invention under power generation mode and the comparison diagram of existing generating PWM.
The primary clustering nomenclature:
The electric locomotive of the control of transmission each other between 1 electrical motor and wheel
2 electrical motors
3 starting switches
4 control circuits
5 acceleration devices
6 driving circuits
7 wheels
8 rotating speed sensing device
9 rotation direction sensors
10 other input/output devices
The specific embodiment
By describing technology contents of the present invention, structural attitude in detail, realized purpose and effect, give explanation below in conjunction with embodiment and conjunction with figs. are detailed.
Please refer to Fig. 1, is the structural representation of expression one embodiment of the invention; The electric locomotive 1 of the control of transmission each other comprises an electrical motor 2, a starting switch 3, a control circuit 4, an acceleration device 5, one drive circuit 6 and wheel 7 at least between the electrical motor of present embodiment and wheel.
And driving circuit 6 electrically connects with electrical motor 2, and being connected of electrical motor 2 and wheel 7 formation transmissions each other, and is trailing wheel such as this wheel 7.In addition, electrical motor 2 connects a rotating speed sensing device 8 and rotation direction sensors 9, and rotating speed sensing device 8 and rotation direction sensor 9 electrically connect with control circuit 4 again, adopts the setting of rotating speed sensing device 8 and rotation direction sensor 9, with the rotating speed of detecting electrical motor 2 with turn to.
Please also refer to Fig. 2 and Fig. 3, wherein, Fig. 2 represents that the present invention automatically switches on the diagram of circuit of drive pattern and power generation mode, and Fig. 3 represents the diagram of curves of the incremental power generation values that control circuit of the present invention provides.The step that the electric locomotive 1 that transmission is each other controlled between electrical motor of the present invention and wheel automatically switches on drive pattern and power generation mode is expressed as follows:
Step S11: driving circuit 6 is in a drive pattern;
Step S12: the state of control circuit 4 detecting acceleration devices 5;
Step S13: control circuit 4 judges whether the order of acceleration device 5 is zero (being whether electrical motor 2 is the takeoff output state); If step S12 is then got back in the order of acceleration device 5 non-vanishing (being that electrical motor 2 is the takeoff output state), control circuit 4 continues detecting;
Step S14: if when the order of acceleration device 5 is zero (electrical motor 2 no power takeoffs), then rotating speed sensing device 8 is sent to control circuit 4 with the tachometer value signal of electrical motor 2 and is recorded as a natural rotating speed;
Step S15: rotating speed sensing device 8 continues an actual speed of detecting electrical motors 2, and this actual speed is meant that electrical motor 2 no longer is under the power running, and the travelled wheel that rotates of this electrical motor drives the rotating speed of running; This actual speed signal also is sent to control circuit 4;
Step S16: control circuit 4 judges that whether actual speed is greater than natural rotating speed;
Step S17: if actual speed is the reduction phenomenon and less than natural rotating speed, then gets back to step S12;
Step S18: if actual speed is and increases phenomenon and during greater than natural rotating speed, then control circuit 4 control Driver Circuit 6 enter power generation mode, and the generating (as shown in Figure 3) that makes driving circuit 6 allow electrical motor 2 produce incrementals;
Step S19: the condition of power generation mode is removed in control circuit 4 detectings one, as meets, and promptly control Driver Circuit 6 is removed power generation mode and got back to step S12.
Wherein, the condition of removing power generation mode comprises that actual speed is lower than nature rotating speed, acceleration device and is formed by start and do not make zero etc.In addition, the present invention after tested, when this nature rotation speed change is actual speed under the driving system of continuous variable speed, or because of the transmission factor of inter-module, this actual speed may be changed to a lower rotating speed, therefore aforementioned actual speed is greater than or less than the ratio of nature rotating speed, promptly need be to increase, subtract or wait some numerical value to handle in percentage speed, natural rotating speed or actual speed are done adjustment (for example the nature rotating speed is processed into 80% numerical value or actual speed is increased to 120% numerical value) on the numerical value, and then nature rotating speed and actual speed are done in logic comparison or application.Certainly if for mechanical rigid interlock (as wheel shell-type motor) 1: 1 ratio is arranged promptly between electrical motor and wheel.
Therefore, adopt above-mentioned steps, can overcome the technical matters of the necessary Manual Transfer Switch of prior art, can automatically switch to power generation mode (as when the time) at descent run, and because the generating of incremental is arranged, the human discomfort that the driving that causes so can avoid driving a vehicle the time to run into the big variation of impedance generation suddenly has some setbacks and drives.Please refer to Fig. 6, the expression PWM scheme drawing of the present invention in power generation mode under sees through the control of PWM switch in order to explanation, and the time that can control the switch ON that generates electricity is cumulative and cumulative power generation values arranged.Certainly, the modulation that the control of this kind power generation values can increase or subtract can carry out little electric weight generating under high rotating speed, and storage battery is to the related request of restrictions such as charging current, charging valtage when recharging to satisfy generating.
Other input/output devices 10 of the present invention can be brake circuits, are triggered to switch to power generation mode by brake signal, have under the brake auxiliary force of electrical motor brake (being similar engine brake) also to form the generating effect in the lump.This brake circuits tool one BK Brake Switch, BK Brake Switch can be the coupled switch in the lever brake, be used as that BK Brake Switch is unlocked when starting to brake, this brake circuits promptly produces a brake signal, makes control circuit 4 be able to control Driver Circuit 6 electrical motor 2 is switched to power generation mode.But, the order that this prerequisite that switches to power generation mode by brake signal is an acceleration device 5 is just can switch under zero the condition, therefore, brake of the present invention is switched, must be zero order and brake signal binary signal and leave at acceleration device 5, just can switch to power generation mode, this generating also is to carry out with the generating of incremental.
Please refer to Fig. 4, represent that drive pattern of the present invention has precedence over the diagram of circuit of power generation mode, the step that this drive pattern must have precedence over power generation mode is expressed as follows:
Step S21: driving circuit 6 is in power generation mode;
Step S22: the state of control circuit 4 detecting acceleration devices 5;
Step S23: control circuit 4 judges whether the order of acceleration device 5 is zero;
Step S24:, then keep power generation mode, and get back to step S22 if the order of acceleration device 5 is zero person;
Step S25: if the order of acceleration device 5 is non-vanishing, then control circuit 4 automatically control Driver Circuit 6 enter drive pattern.
Therefore, must have precedence over the step of power generation mode by above-mentioned drive pattern, can reach the demand of controlling, under for example need braking when hill start, quickening to operate simultaneously, locomotive should be drive pattern but not power generation mode.
Please refer to Fig. 5, expression the present invention leads the diagram of circuit of car pattern in one.When vehicle is affected, the rotation of wheel can drive electrical motor and form passive rotation, this drive or because of the frictional resistance of mechanism between driving system, or the cogging torque resistances such as (Cogging torque) that produces because of electrical motor itself, cause vehicle to lead the difficult and effort of row, and lead the car situation or have to lead from crowded space, can't drive lead row etc. (as light current or other mechanism's factors), therefore the present invention designs a traction mode, can provide power-assisted slightly, and the step of traction mode is expressed as follows:
Step S301: control circuit 4 is activated;
Step S302: whether the order of control circuit 4 detecting acceleration devices 5 is zero;
Step S303: the non-vanishing step S302 that then gets back to of the order of acceleration device 5;
Step S312: the order of control circuit 4 detecting acceleration devices 5 is under the zero condition, and the actual speed of rotating speed sensing device 8 and rotation direction sensor 9 detecting electrical motors 2 and turning to, and is sent to control circuit 4.Wherein, actual speed promptly is that electrical motor 2 is driven the rotating speed that rotates by wheel;
Step S313: control circuit 4 judges whether the order of acceleration device 5 is zero, and judges whether the actual speed of electrical motor 2 is zero; If the non-vanishing step S302 that then gets back to of order of acceleration device 5; If the order of acceleration device 5 is zero, but the non-vanishing person of the actual speed of electrical motor 2 then gets back to step S312; If the order of acceleration device 5 is zero, and the actual speed of electrical motor 2 is that zero person then arrives step S314;
Step S314: rotating speed sensing device 8 and rotation direction sensor 9 are detected the actual speed of electrical motors 2 and are turned to, and are sent to control circuit 4;
Step S315: control circuit 4 judges that whether actual speed is more than or equal to a minimum value of being scheduled to low engine speed range; If actual speed is then got back to step S314 less than the minimum value person of predetermined low engine speed range;
Step S316: if actual speed is more than or equal to the minimum value person of predetermined low engine speed range, control circuit 4 control Driver Circuit 6 enter traction mode, allow electrical motor 2 with a predetermined auxiliary output strength rotating-wheel 7, and auxiliary strength direction is turning to of last time detecting (can be step S314 or step S320 detect turn to);
Step S317: the actual speed of rotating speed sensing device 8 detecting electrical motors 2, and whether the order of detecting acceleration device 5 is zero, and be sent to control circuit 4;
Step S318: control circuit 4 is judged actual speed whether in a predetermined low engine speed range, and judges whether the order of acceleration device 5 is zero; If the non-vanishing step S302 that then gets back to of order of acceleration device 5;
Step S319:, then keep origin operation (promptly be in traction mode and auxiliary power is provided), and get back to step S317 if the order of acceleration device 5 is zero and actual speed person in predetermined low engine speed range;
Step S320: if the order of acceleration device 5 be zero and actual speed less than predetermined low engine speed range person, then control circuit 4 is detected and be sent to cancellation traction auxiliary power but keep the rotating speed of traction mode and turn to;
Step S330: control circuit 4 is judged actual speed whether in a predetermined low engine speed range, and judges whether the order of acceleration device 5 is zero; If the non-vanishing step S302 that then gets back to of order of acceleration device 5; If actual speed is greater than 0 but less than the minimum value person of predetermined low engine speed range, then get back to step S320; If actual speed is then got back to step S316 more than or equal to the minimum value person of predetermined low engine speed range, this moment, auxiliary strength direction turned to for step S320 last time detects;
Step S321: if the order of acceleration device 5 be zero and actual speed greater than predetermined low engine speed range person, then keep traction mode, but stop to provide auxiliary power;
Step S322: the actual speed of rotating speed sensing device 8 and rotation direction sensor 9 detecting electrical motors 2 and turn to and whether the order of acceleration device 5 is zero, and be sent to control circuit 4;
Step S323: whether control circuit 4 judges actual speed greater than the maxim of being scheduled to low engine speed range, and whether the order of acceleration device 5 is zero; If actual speed is then got back to step S321 greater than the maxim person of predetermined low engine speed range; If step S302 is then got back in the order of acceleration device 5 when non-vanishing;
Step S324: if actual speed is less than or equal to the maxim person of predetermined low engine speed range, then keeps traction mode and recover auxiliary power, return step S317.
Wherein, preferably, the predetermined low engine speed range that is used for continuous variable speed system can be set in 250RPM between the 1500RPM, but not as limit, can set on demand, and the auxiliary power that drive wheels is rotated also can be set on demand.In addition, whether the aforementioned actual speed of judging electrical motor 2 is that zero judgment mode is for best, but also can adopt zero to less than the arbitrary rotating speed between this predetermined low engine speed range minimum value or should the interval rotating speed as judgment value, or will zero, arbitrary rotating speed, interval rotating speed etc. abandon judging, do not hinder the enforcement of traction mode yet, but may increase some unnecessary auxiliary power outputs, thereby cause power wastage.Aforementioned actual speed less than or greater than predetermined low engine speed range person, the judgement of keeping traction mode but stopping to provide auxiliary power is arranged, this judges and also can adopt the mode of cancellation traction mode to replace, and does not also hinder the enforcement of traction mode.
Therefore, by above-mentioned electrical motor 2 and 7 controls of transmission each other of wheel, and switching between drive pattern, power generation mode is arranged, and have precedence over the control of power generation mode with drive pattern, and when power generation mode the generating of incremental, it is uncomfortable etc. to avoid driving to have some setbacks, drive, and, one can produce the brake circuits of brake signal, and brake under certain condition is changeable to be power generation mode, has the brake auxiliary force of electrical motor brake (being similar engine brake) also to form the generating effect in the lump; In addition, but the auxiliary power that following of traction mode provides drive wheels to rotate, vehicle is advanced or retreat lead row, gently power can be reached and is easy to lead car and operates.
The above only is embodiments of the invention; be not so limit claim of the present invention; every equivalent structure or equivalent flow process conversion that utilizes specification sheets of the present invention and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.
Claims (9)
1. the electric locomotive of the control of transmission each other between electrical motor and wheel, this electric locomotive comprises an electrical motor, a starting switch, an acceleration device, a control circuit, one drive circuit and wheel at least; This electrical motor, starting switch, acceleration device and driving circuit and control circuit electrically connect, and control circuit, is characterized in that to drive this electrical motor according to the signal control drive circuit of start between electrically connecting:
The drive pattern that but this electrical motor is a drive wheels to rotate, and the wheel that rotates drives passive rotation, the control circuit of electrical motor and accepts the signal of this electrical motor passive rotation and make electrical motor form power generation mode with control Driver Circuit;
Whether this control circuit is zero to come control Driver Circuit according to the order of acceleration device, switches between drive pattern, power generation mode to drive this electrical motor, and wherein, this drive pattern has precedence over this power generation mode.
2. the electric locomotive of the control of transmission each other between electrical motor according to claim 1 and wheel is characterized in that: but this power generation mode is the power generation mode of the cumulative and cumulative mode modulation of time of a kind of switch ON that generates electricity.
3. the electric locomotive of the control of transmission each other between electrical motor according to claim 1 and wheel, it is characterized in that: this electrical motor electrically connects a rotating speed sensing device, and the electrical property of this rotating speed sensing device and this control circuit connects, this acceleration device is under zero the condition in order, this control circuit writes down a natural tachometer value earlier according to the rotating speed sensing device, this rotating speed sensing device is detected the actual speed value that this electrical motor is driven by wheel again, when this actual speed value greater than this nature tachometer value and be when continuing to increase state, this control circuit is controlled this driving circuit and is entered this power generation mode by electrical motor.
4. the electric locomotive of transmission each other control between electrical motor according to claim 3 and wheel is characterized in that: this actual speed value is greater than the ratio of natural tachometer value, is through increasing, subtract or in the adjusted speed of percentage value.
5. the electric locomotive of the control of transmission each other between electrical motor according to claim 1 and wheel, it is characterized in that: one with the brake circuits of brake gear interlock and control circuit electric connection, when braking, start produces a brake signal, this brake signal is that this control circuit is controlled this driving circuit and entered this power generation mode by electrical motor under zero the condition in the acceleration device order.
6. the electric locomotive of the control of transmission each other between electrical motor and wheel, this electric locomotive comprises an electrical motor, a starting switch, an acceleration device, a control circuit, one drive circuit and wheel at least; This electrical motor, starting switch, acceleration device and driving circuit and control circuit electrically connect, control circuit according to the signal control drive circuit of start between electrically connecting to drive this electrical motor, and electrical motor and rotating speed with turn to sensing device to be connected, it is characterized in that:
This rotating speed and turn to sensing device and the electrical property of this control circuit to connect, when the order of this acceleration device is zero, the actual speed that this electrical motor is rotated by the wheel transmission is in a predetermined low engine speed range, then this control circuit is automatically controlled this driving circuit and is entered a traction mode by electrical motor, to provide auxiliary power that vehicle is advanced or to retreat and be easy to lead row.
7. the electric locomotive of transmission each other control between electrical motor according to claim 6 and wheel is characterized in that: this actual speed less than or then cancel traction mode greater than this predetermined low engine speed range person.
8. the electric locomotive of the control of transmission each other between electrical motor and wheel, this electric locomotive comprises an electrical motor, a starting switch, an acceleration device, a control circuit, one drive circuit and wheel at least; This electrical motor, starting switch, acceleration device and driving circuit and control circuit electrically connect, and control circuit, is characterized in that to drive this electrical motor according to the signal control drive circuit of start between electrically connecting:
This electrical motor is the drive pattern that drive wheels is rotated, and the wheel that rotates drives passive rotation, the control circuit of electrical motor and accepts the signal of this electrical motor passive rotation and make electrical motor form power generation mode with control Driver Circuit;
Whether this control circuit is zero to come control Driver Circuit, switch between drive pattern, power generation mode to drive this electrical motor according to the order of acceleration device, wherein, but this power generation mode is the power generation mode of the cumulative and cumulative mode modulation of time of a kind of switch ON that generates electricity.
9. the electric locomotive of the control of transmission each other between electrical motor according to claim 8 and wheel, it is characterized in that: the switching between this drive pattern and power generation mode, this drive pattern has precedence over this power generation mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010166570XA CN101830184B (en) | 2010-04-20 | 2010-04-20 | An electric locomotive with mutual transmission control between the motor and the wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010166570XA CN101830184B (en) | 2010-04-20 | 2010-04-20 | An electric locomotive with mutual transmission control between the motor and the wheels |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310078689.5A Division CN103241320B (en) | 2010-04-20 | 2010-04-20 | Electric locomotive with mutual transmission control between motor and wheels and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101830184A true CN101830184A (en) | 2010-09-15 |
| CN101830184B CN101830184B (en) | 2013-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010166570XA Expired - Fee Related CN101830184B (en) | 2010-04-20 | 2010-04-20 | An electric locomotive with mutual transmission control between the motor and the wheels |
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Citations (6)
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| US20040000887A1 (en) * | 2002-06-29 | 2004-01-01 | Han-Seung Lim | Method and apparatus for controlling a motor of a hybrid electric vehicle |
| CN1895941A (en) * | 2005-07-15 | 2007-01-17 | 中国第一汽车集团公司 | Control for increasing mixed-kinetic braking-energy recovery of automobile |
| JP2009038922A (en) * | 2007-08-02 | 2009-02-19 | Mitsubishi Motors Corp | Electric vehicle regenerative braking force control device |
| CN101519034A (en) * | 2009-04-01 | 2009-09-02 | 奇瑞汽车股份有限公司 | Power system of mixed power automobile and control method thereof |
| CN101565042A (en) * | 2009-05-12 | 2009-10-28 | 奇瑞汽车股份有限公司 | Driving controlling method and device of hybrid electric vehicle |
| CN101624018A (en) * | 2009-08-03 | 2010-01-13 | 奇瑞汽车股份有限公司 | Regenerative braking system of electric vehicle and control method thereof |
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2010
- 2010-04-20 CN CN201010166570XA patent/CN101830184B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040000887A1 (en) * | 2002-06-29 | 2004-01-01 | Han-Seung Lim | Method and apparatus for controlling a motor of a hybrid electric vehicle |
| CN1895941A (en) * | 2005-07-15 | 2007-01-17 | 中国第一汽车集团公司 | Control for increasing mixed-kinetic braking-energy recovery of automobile |
| JP2009038922A (en) * | 2007-08-02 | 2009-02-19 | Mitsubishi Motors Corp | Electric vehicle regenerative braking force control device |
| CN101519034A (en) * | 2009-04-01 | 2009-09-02 | 奇瑞汽车股份有限公司 | Power system of mixed power automobile and control method thereof |
| CN101565042A (en) * | 2009-05-12 | 2009-10-28 | 奇瑞汽车股份有限公司 | Driving controlling method and device of hybrid electric vehicle |
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| CN101830184B (en) | 2013-11-20 |
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Granted publication date: 20131120 Termination date: 20170420 |