Study on Braking Energy Recovery Control Strategy for Four-Axle Battery Electric Heavy-Duty Trucks

Table 7

Simulation results of single braking conditions.

Single braking condition	Coordinated control	^a) (N·m)	^a) (N·m)	^b) (m/s^3)	Recovered energy (kJ)	Braking distance (m)
Condition 3	Without	—	3231.49	5.025	558.9	68.75
	With	—	91.86	0.12	530.0	68.39
Condition 4	Without	4996.83	5815.04	7.895	877.5	59.86
	With	667.45	554.44	0.850	837.2	59.30
Condition 5	Without	6391.22	6110.58	7.902	864.1	66.63
	With	503.55	1365.21	2.315	821.8	65.75

^a) and denote the maximum torque deviation in transition condition 1 and transition condition 2, respectively; ^b) denotes the maximum jerk in transition condition 2.