Research on multi-mode regenerative braking energy recovery of electric vehicle with double rotor hub motor

In this study, a new type of double rotor hub motor is proposed. Then, its structure, the working principle as well as the regenerative braking energy recovery modes are described. In detail, three kinds of regenerative braking energy recovery modes, i.e., double motor regenerative braking mode, single inner motor regenerative braking mode and single outer motor regenerative braking mode, are introduced. The mathematical models of single wheel dynamics model and double rotor hub motor model are established. The three kinds of braking energy recovery modes are compared and the simulation results show that, by using the sliding mode control strategy, on the condition that the maximum braking energy recovery of the motor is satisfied, the hydraulic braking torque can make corresponding response according to the change of the regenerative braking torque of the motor. At the same time, antilock braking of the wheel is achieved.