Parallel braking and energy recovery system of electric loader

Abstract

The invention discloses a parallel brake and energy recovery system of an electric loader. The parallel brake and energy recovery system comprises a brake pedal, an accelerator pedal, a complete machine controller, a motor controller, a three-position four-way proportional servo valve, a gear valve group, a variable cylinder, a four-quadrant pump, an electromagnetic switch valve and a hydraulic energy accumulator, the whole vehicle controller converts received control signals sent by a movable pedal and an accelerator pedal into required torque and then sends a control instruction to the motor controller so as to control the rotating speed torque of the whole vehicle, and meanwhile the whole vehicle controller controls the working state of the three-position four-way proportional servo valve and the working state of the electromagnetic switch valve through electromagnetic force. The three-position four-way proportional servo valve controls the stroke of the variable cylinder and further controls the displacement of the four-quadrant pump, the gear valve set is connected to the hydraulic energy accumulator through the electromagnetic switch valve, the complete machine controller sends a control instruction to the gear valve set according to the current gear condition to switch hydraulic working gears, hydraulic braking energy is recycled through the hydraulic energy accumulator, and the hydraulic energy accumulator is connected with the hydraulic energy accumulator. And then the whole machine is controlled to output the required braking torque.

Description

Technical Field

[0001] The present invention relates to the technical field of construction machinery, and particularly to a parallel braking energy recovery and reuse system for an electric loader. Background Art

[0002] Traditional loaders use a combination of a diesel engine and a torque converter, which have problems such as high fuel consumption, poor emissions, and low efficiency; pure electric loaders have the advantages of zero emissions, low noise, and high efficiency. However, the load of the loader fluctuates violently, and the peak load power can reach more than 3 times the average power. It is easy for a pure electric drive loader to have insufficient explosive power in the overall machine control. Meeting the demand by increasing the installed power of the motor will cause waste, and instantaneous large current discharge is likely to cause a decrease in battery life; for traditional electric loaders with hydraulic energy recovery, the drive shaft is connected to a four-quadrant pump through a coupling with a fixed reduction ratio. The range of its hydraulic braking torque and hydraulic regenerative driving torque is greatly limited and cannot meet the demand. It is basically double-recovered and double-braked by electricity and hydraulics, and its distribution calculation brings a great burden to the vehicle controller, and the installation space of the coupling and its lubrication device need to be set separately. This makes it impossible to guarantee the performance of the whole machine, and the price is more expensive and the production is more difficult. Summary of the Invention

[0003] In view of this, in view of the deficiencies of the prior art in the background art, the main purpose of the present invention is to provide a parallel braking energy recovery and reuse system for an electric loader, which can effectively solve the problems existing in the existing loaders, such as easy battery damage and motor demagnetization caused by frequent start-stop and instantaneous large current discharge during shoveling, complex control of energy recovery and reuse, and limited range of hydraulic regenerative braking and driving torque.

[0004] To achieve the above object, the present invention provides the following technical solution: a parallel braking and energy recovery system for an electric loader, comprising a brake pedal, an accelerator pedal, a whole machine controller, a motor controller, a three-position four-way proportional servo valve, a gear shift valve group, a variable cylinder, a four-quadrant pump, an electromagnetic switch valve, and a hydraulic accumulator; the brake pedal and the accelerator pedal are connected to the whole machine controller and send control signals to the vehicle controller in real time, and the vehicle controller converts the received control signals into required torques and sends control commands to the motor controller to control the rotational speed and torque of the whole machine. At the same time, the whole machine controller is also connected to the three-position four-way proportional servo valve, and controls the working states of the three-position four-way proportional servo valve and the electromagnetic switch valve through electromagnetic force. The three-position four-way proportional servo valve controls the stroke of the variable cylinder to control the displacement of the four-quadrant pump. The whole machine controller is signal-connected to the gear shift valve group, and the gear shift valve group is connected to the hydraulic accumulator through the electromagnetic switch valve. The whole machine controller sends control commands to the gear shift valve group according to the current gear condition to switch the hydraulic working gear, and at the same time, the whole machine controller controls the electromagnetic switch valve to open, and recovers the hydraulic braking energy through the hydraulic accumulator, so as to control the required braking torque output by the whole machine.

[0005] Preferably, the gear shift valve group is mechanically connected to the integrated transmission by bolts, the integrated transmission is connected to the four-quadrant pump by a clutch, the integrated transmission is mechanically connected to the reducer by a drive shaft, and the reducer is mechanically connected to the tires of the whole machine through a drive axle to control the rotation of the tires.

[0006] Preferably, the brake pedal, the accelerator pedal, the motor controller, the gear shift valve group, the three-position four-way proportional servo valve, and the electromagnetic switch valve are respectively connected to the whole machine controller through low-voltage electricity, and communicate and control through a CAN network.

[0007] Preferably, one of the hydraulic connections of the three-position four-way proportional servo valve is a hydraulic pump. The inlet of the hydraulic pump is connected to the fuel tank through a filter, and the outlet of the hydraulic pump is connected to the three-position four-way proportional servo valve and the gear shift valve group.

[0008] Preferably, the integrated transmission internally has two sets of gear sets, one set is connected to the motor, and the other set is connected to the clutch.

[0009] Preferably, by controlling the gear shift through the gear shift valve group and combining the working conditions and displacement control of the four-quadrant pump, the range of hydraulic braking torque and driving torque can be increased.

[0010] Preferably, the whole machine controller can combine the real-time working conditions of the whole machine to select separate hydraulic braking energy recovery or separate electrical braking energy recovery; select separate hydraulic drive or separate motor drive; select combined hydraulic and electrical braking or combined hydraulic and electrical drive.

[0011] Preferably, it further includes a power battery, which is a lithium battery, a nickel-metal hydride battery or a fuel cell.

[0012] Preferably, the motor of the system is a permanent magnet synchronous motor, a switched reluctance motor, a DC motor or an AC induction motor.

[0013] The present invention has the following beneficial effects: 1. The full-displacement control of the four-quadrant pump and the connection to the drive shaft through multiple reduction ratios can provide a larger range of output and braking torque, avoid the demagnetization of the motor and the reduction of battery life caused by the instantaneous large current discharge during motor output and power generation, can reduce the peak power demand of the motor, simplify the drive and braking strategies, and reduce the load of the whole machine controller. 2. It can select separate hydraulic braking energy recovery or separate electrical braking energy recovery according to the real-time working conditions, select separate hydraulic drive or separate motor drive, and select combined hydraulic and electrical braking or combined hydraulic and electrical drive; effectively improve the power performance and economy of the whole machine. 3. The fixed reduction ratio coupler connecting the four-quadrant pump to the drive shaft is increased to multiple reduction ratios and incorporated into the integrated transmission, saving the installation space of the coupler and the separate arrangement of its lubrication device, making the whole machine easy to install, the whole machine structure more compact, and the whole machine mass more lightweight. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.

[0015] Figure 1 It is a schematic diagram of the principle of the parallel braking energy recovery and reuse system of the electric loader of the present invention.

[0016] In the figure: 1 - brake pedal, 2 - accelerator pedal, 3 - whole machine controller, 4 - battery, 5 - first motor controller, 6 - first motor, 7 - integrated transmission, 8 - gear valve group, 9 - second motor controller, 10 - second motor, 11 - first filter, 12 - hydraulic pump, 13 - first overflow valve, 14 - three-position four-way proportional servo valve, 15 - variable cylinder, 16 - second filter, 17 - four-quadrant pump, 18 - pressure sensor, 19 - electromagnetic solenoid valve, 20 - hydraulic accumulator, 21 - second overflow valve, 22 - clutch, 23 - first reducer, 24 - second reducer, 25 - first tire, 26 - second tire, 27 - third tire, 28 - fourth tire. Detailed Embodiments

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by the first technician in the field without making creative work belong to the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by the first technician in the field without making creative work belong to the scope of protection of the present invention.

[0018] Example

[0019] The following are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the following embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

[0020] Reference Manual Attached Figure 1 The present invention includes a brake pedal 1, an accelerator pedal 2, a whole machine controller 3, a battery 4, a first motor controller 5, a first motor 6, an integrated transmission 7, a gear valve group 8, a second motor controller 9, a second motor 10, a first filter 11, a hydraulic pump 12, a first overflow valve 13, a three-position four-way proportional servo valve 14, a variable cylinder 15, a second filter 16, a four-quadrant pump 17, a pressure sensor 18, an electromagnetic switch valve 19, a hydraulic accumulator 20, a second overflow valve 21, a clutch 22, a first reducer 23, a second reducer 24, a first tire 25, a second tire 26, a third tire 27, and a fourth tire 28.

[0021] The mechanical connection relationship is as follows: the first motor 6 is mechanically connected to the integrated transmission 7; the second motor 10 is mechanically connected to the hydraulic pump 12; the integrated transmission 7 is connected to the four-quadrant pump 17 through the clutch 22; the gear valve group 8 is mechanically connected to the integrated transmission 9 through bolts; the integrated transmission 7 is mechanically connected to the first reducer 23 through the drive shaft, and the integrated transmission 7 is mechanically connected to the second reducer 24 through the drive shaft; the first reducer 23 is mechanically connected to the first tire 25 through the drive axle, the first reducer 23 is mechanically connected to the second tire 26 through the drive axle, the second reducer 24 is mechanically connected to the third tire 27 through the drive axle, and the second reducer 24 is mechanically connected to the fourth tire 28 through the drive axle;

[0022] The high-voltage connection relationship is as follows: The battery 4 is connected to the first motor controller 5 in a high-voltage electrical manner, and the power battery 4 is connected to the second motor controller 9 in a high-voltage electrical manner; The first motor 6 is connected to the first motor controller 5 in a high-voltage electrical manner, and the second motor 10 is connected to the second motor controller 9 in a high-voltage electrical manner;

[0023] The CAN connection relationship is as follows: The brake pedal 1, the accelerator pedal 2, the power battery 4, the first motor controller 5, the gear valve group 8, the second motor controller 9, the three-position four-way proportional servo valve 14, the pressure sensor 18, and the electromagnetic solenoid valve 19 are respectively connected to the whole machine controller 3 in a low-voltage electrical manner and communicate and control through the CAN network.

[0024] The hydraulic pipeline connection relationship is as follows: The inlet of the hydraulic pump 12 is connected to the fuel tank through the first filter 11, and the outlet of the hydraulic pump 12 is connected to the inlet of the first overflow valve 13, the P port of the three-position four-way proportional servo valve 14, and the gear valve group 8; The outlet of the first overflow valve 13 is connected to the fuel tank; The T port of the three-position four-way proportional servo valve 14 is connected to the fuel tank, the A port is connected to the left chamber of the variable cylinder 15, and the B port is connected to the right chamber of the variable cylinder 15; The inlet of the four-quadrant pump 17 is connected to the fuel tank through the second filter 16, and the inlet of the four-quadrant pump 17 is connected to the pressure sensor 18; The pressure sensor 18 is connected to the A port of the electromagnetic solenoid valve 19, and the B port of the electromagnetic solenoid valve 19 is connected to the hydraulic accumulator 20 and the inlet of the second overflow valve 21; The outlet of the second overflow valve 21 is connected to the fuel tank.

[0025] The working principle of the system is as follows: The loader driver operates the brake pedal 1 and the accelerator pedal 2 according to the real-time working condition requirements. The brake pedal 1 and the accelerator pedal 2 send control signals to the whole vehicle controller 3 in real time. The whole vehicle controller 3 calculates the required torque through the PID control algorithm using the received control signals, and sends control commands to the first motor controller 5 and the second motor controller 9 respectively. The first motor controller 5 controls the speed and torque of the first motor 6, and the second motor controller 9 controls the speed and torque of the second motor 10. At the same time, the whole machine controller 3 controls the working states of the three-position four-way proportional servo valve 14 and the electromagnetic solenoid valve 19 through electromagnetic force. The three-position four-way proportional servo valve 14 controls the stroke of the variable cylinder 15 to control the displacement of the four-quadrant pump. The whole machine controller 3 obtains the current gear condition through the control algorithm and sends a control command to the gear valve group 8 to switch the working gear, thereby controlling the output torque and braking torque of the whole machine.

[0026] Embodiment A

[0027] When in the working condition of small braking force demand, it is as follows:

[0028] The loader driver operates the brake pedal 1 and the accelerator pedal 2 according to the real-time working condition requirements. The brake pedal 1 and the accelerator pedal 2 send control signals to the vehicle controller 3 in real time. The vehicle controller 3 calculates the required torque through a control algorithm using the received control signals, and sends a control command to the second motor controller 9. The second motor controller 9 controls the speed and torque of the second motor 10. At the same time, the machine controller 3 controls the working state of the three-position four-way proportional servo valve 14 through electromagnetic force. When the three-position four-way proportional servo valve 14 is in the left position, the spool of the variable cylinder 15 moves to the right. When the three-position four-way proportional servo valve 14 is in the right position, the spool of the variable cylinder 15 moves to the left to adjust the displacement of the four-quadrant pump 17 to track the target value. The machine controller 3 obtains the current gear condition through a control algorithm and sends a control command to the gear valve group 8 to switch the hydraulic working gear to a low reduction ratio. The machine controller 3 controls the electromagnetic switch valve 19 to open for hydraulic braking energy recovery. According to the formula T = ΔPVη / 2π, where T is the output torque of the four-quadrant pump 17, ΔP is the pressure difference between the inlet and outlet of the four-quadrant pump 17, V is the displacement of the four-quadrant pump 17, and η is the efficiency of the four-quadrant pump 17, so as to control the output of the whole machine to the required braking torque.

[0029] Embodiment B

[0030] When in the working condition of large required braking force, the specific situation is as follows:

[0031] The loader driver operates the brake pedal 1 and the accelerator pedal 2 according to the real-time working condition requirements. The brake pedal 1 and the accelerator pedal 2 send control signals to the vehicle controller 3 in real time. The vehicle controller 3 calculates the required torque through a control algorithm using the received control signals, and sends a control command to the second motor controller 9. The second motor controller 9 controls the speed and torque of the second motor 10. At the same time, the machine controller 3 controls the working state of the three-position four-way proportional servo valve 14 through electromagnetic force. When the three-position four-way proportional servo valve 14 is in the left position, the spool of the variable cylinder 15 moves to the right. When the three-position four-way proportional servo valve 14 is in the right position, the spool of the variable cylinder 15 moves to the left to adjust the displacement of the four-quadrant pump 17 to track the target value. The machine controller 3 obtains the current gear condition through a control algorithm and sends a control command to the gear valve group 8 to switch the hydraulic working gear to a high reduction ratio. The machine controller 3 controls the electromagnetic switch valve 19 to open for hydraulic braking energy recovery. According to the formula T = ΔPVη / 2π, where T is the output torque of the four-quadrant pump 17, ΔP is the pressure difference between the inlet and outlet of the four-quadrant pump 17, V is the displacement of the four-quadrant pump 17, and η is the efficiency of the four-quadrant pump 17, so as to control the output of the whole machine to the required braking torque.

[0032] Embodiment C

[0033] When the hydraulic accumulator 20 is full and there is still a required braking force working condition, the specific situation is as follows:

[0034] The vehicle controller 3 calculates the required torque through a control algorithm using the received control signal, and sends a control command to the first motor controller 5. The first motor controller 5 controls the speed and torque of the first motor 6, and at the same time controls the gear valve group 8 to the target motor gear, so as to control the whole machine to output the required braking torque.

[0035] Embodiment D

[0036] When in an emergency braking situation where a large braking force is required, the specific situation is as follows:

[0037] The loader driver operates the brake pedal 1 and the accelerator pedal 2 according to the real-time working condition requirements. The brake pedal 1 and the accelerator pedal 2 send control signals to the vehicle controller 3 in real time. The vehicle controller 3 calculates the required torque through a control algorithm using the received control signals, and sends control commands to the first motor controller 5 and the second motor controller 9. The first motor controller 5 controls the speed and torque of the first motor 6, and the second motor controller 9 controls the speed and torque of the second motor 10. At the same time, the whole machine controller 3 controls the working state of the three-position four-way proportional servo valve 14 through electromagnetic force. When the three-position four-way proportional servo valve 14 is in the left position, the spool stroke of the variable cylinder 15 is the largest and the displacement of the four-quadrant pump 17 is the largest. The whole machine controller 3 obtains the current gear situation through a control algorithm and sends a control command to the gear valve group 8 to switch the motor and hydraulic working gears to the target reduction ratio. The whole machine controller 3 controls the electromagnetic switch valve 19 to open for hydraulic braking energy recovery. According to the formula T = ΔPVη / 2π, where T is the output torque of the four-quadrant pump 17, ΔP is the pressure difference between the inlet and outlet ports of the four-quadrant pump 17, V is the displacement of the four-quadrant pump 17, and η is the efficiency of the four-quadrant pump 17. At the same time, electrical energy recovery is carried out, so as to control the whole machine to output the required braking torque.

[0038] Embodiment E

[0039] When the hydraulic braking energy is reused for independent drive, the specific situation is as follows:

[0040] The loader driver operates the brake pedal 1 and the accelerator pedal 2 according to the real-time working condition requirements. The brake pedal 1 and the accelerator pedal 2 send control signals to the vehicle controller 3 in real time. The vehicle controller 3 calculates the required torque through a control algorithm using the received control signals, and sends a control command to the second motor controller 9. The second motor controller 9 controls the speed and torque of the second motor 10. At the same time, the machine controller 3 controls the working state of the three-position four-way proportional servo valve 14 through electromagnetic force. When the three-position four-way proportional servo valve 14 is in the left position, the spool of the variable cylinder 15 moves to the right. When the three-position four-way proportional servo valve 14 is in the right position, the spool of the variable cylinder 15 moves to the left to adjust the displacement of the four-quadrant pump 17 to track the target value. The machine controller 3 obtains the current gear condition through a control algorithm and sends a control command to the gear valve group 8 to switch the hydraulic working gear to the target speed ratio. The machine controller 3 controls the electromagnetic switch valve 19 to open for hydraulic brake energy reuse. According to the formula T = ΔPVη / 2π, where T is the output torque of the four-quadrant pump 17, ΔP is the pressure difference between the inlet and outlet of the four-quadrant pump 17, V is the displacement of the four-quadrant pump 17, and η is the efficiency of the four-quadrant pump 17, so as to control the output required driving torque of the whole machine.

[0041] Embodiment F

[0042] When the motor drives alone, the specific situation is as follows:

[0043] The vehicle controller 3 calculates the required torque through a control algorithm using the received control signals, and sends a control command to the first motor controller 5. The first motor controller 5 controls the speed and torque of the first motor 6, and at the same time controls the gear valve group 8 to the target motor gear, so as to control the output required driving torque of the whole machine.

[0044] Embodiment G

[0045] When the motor and the hydraulic brake energy reuse drive together, the specific situation is as follows:

[0046] The loader driver operates the brake pedal 1 and the accelerator pedal 2 according to the real-time working condition requirements. The brake pedal 1 and the accelerator pedal 2 send control signals to the vehicle controller 3 in real time. After calculating the required torque through the control algorithm using the received control signals, the vehicle controller 3 sends control commands to the first motor controller 5 and the second motor controller 9. The first motor controller 5 controls the speed and torque of the first motor 6, and the second motor controller 9 controls the speed and torque of the second motor 10. At the same time, the whole machine controller 3 controls the working state of the three-position four-way proportional servo valve 14 through electromagnetic force. When the three-position four-way proportional servo valve 14 is in the right position, the reverse stroke of the variable cylinder 15 spool is the largest and the displacement of the four-quadrant pump 17 is the largest. The whole machine controller 3 obtains the current gear condition through the control algorithm and sends a control command to the gear valve group 8 to switch the motor and hydraulic working gears to the target reduction ratio. The whole machine controller 3 controls the electromagnetic switch valve 19 to open for hydraulic braking energy recycling. According to the formula T = ΔPVη / 2π, where T is the output torque of the four-quadrant pump 17, ΔP is the pressure difference between the inlet and outlet of the four-quadrant pump 17, V is the displacement of the four-quadrant pump 17, and η is the efficiency of the four-quadrant pump 17. At the same time, motor drive is carried out to achieve torque coupling in the integrated transmission, so as to control the output required driving torque of the whole machine.

[0047] The parallel braking energy recovery and reuse system of an electric loader of the present invention can be applied to various working conditions of construction machinery to realize driving and braking functions, and is especially applicable to loaders with severe load fluctuations and frequent start-stop working conditions.

[0048] The above embodiments are only for illustrating the technical concept and characteristics of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. It should not be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A parallel braking and energy recovery system for an electric loader, characterized in that: It includes a brake pedal, an accelerator pedal, a whole machine controller, a motor controller, a three-position four-way proportional servo valve, a gear valve group, a variable cylinder, a four-quadrant pump, an electromagnetic switch valve and a hydraulic accumulator; the brake pedal and the accelerator pedal are connected to the whole machine controller and send control signals to the whole vehicle controller in real time. The whole vehicle controller converts the received control signal into the required torque and then sends a control instruction to the motor controller to control the speed and torque of the whole machine. At the same time, the whole machine controller is also connected to the three-position four-way proportional servo valve, and the working states of the three-position four-way proportional servo valve and the electromagnetic switch valve are controlled by electromagnetic force. The three-position four-way proportional servo valve controls the variable cylinder stroke and thus controls the displacement of the four-quadrant pump. The whole machine controller signal is connected to the gear valve group, and the gear valve group is connected to the hydraulic accumulator through the electromagnetic switch valve. The whole machine controller sends a control instruction to the gear valve group to switch the hydraulic working gear according to the current gear situation. At the same time, the whole machine controller controls the electromagnetic switch valve to open, and recovers hydraulic braking energy through the hydraulic accumulator, thereby controlling the whole machine to output the required braking torque.

2. The parallel braking and energy recovery system for an electric loader according to claim 1, characterized in that: The gear valve group is mechanically connected to the integrated transmission through bolts, the integrated transmission is connected to the four-quadrant pump through a clutch, the integrated transmission is mechanically connected to the reducer through a drive shaft, and the reducer is mechanically connected to the tires of the entire machine through a drive axle and controls the rotation of the tires.

3. The parallel braking and energy recovery system for an electric loader according to claim 2, characterized in that: The brake pedal, accelerator pedal, motor controller, gear valve group, three-position four-way proportional servo valve, and electromagnetic switch valve are respectively connected to the low-voltage electrical system of the whole machine controller, and communicate and control through the CAN network.

4. The parallel braking and energy recovery system for an electric loader according to claim 3, characterized in that: The three-position four-way proportional servo valve is hydraulically connected to a hydraulic pump, the hydraulic pump oil inlet is connected to the oil tank through a filter, and the hydraulic pump oil outlet is connected to the three-position four-way proportional servo valve and the gear valve group.

5. The parallel braking and energy recovery system for an electric loader according to claim 2, characterized in that: The integrated transmission has two sets of gear sets inside, one set is connected to the motor, and the other set is connected to the clutch.

6. The parallel braking and energy recovery system for an electric loader according to claim 1, characterized in that: By controlling the gear switching through the gear valve group and combining it with the four-quadrant pump working condition and displacement control, the hydraulic braking torque and driving torque range can be increased.

7. The parallel braking and energy recovery system for an electric loader according to claim 1, characterized in that: The whole machine controller can select separate hydraulic brake energy recovery or separate electric brake energy recovery according to the real-time working conditions of the whole machine; select separate hydraulic drive or separate motor drive; select hydraulic and electrical combined braking or hydraulic and electrical combined drive.

8. The parallel braking and energy recovery system for an electric loader according to claim 1, characterized in that: It also includes a power battery, which is a lithium battery, a nickel-hydrogen battery or a fuel cell.

9. The parallel braking energy recovery and reuse system for an electric loader according to claim 1, characterized in that: The motor of the system is a permanent magnet synchronous motor, a switched reluctance motor, a DC motor or an AC induction motor.

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