254 results about "Energy feedback" patented technology

The invention discloses a feedback type programmable alternating current source load integrated test system, and belongs to the technical field of power electronics. A feedback type programmable alternating current source load integrated test system comprises an alternating current power supply module, an alternating current load module, an energy feedback module, a control module and a test module. The system solves the problems that an existing test system can only provide a single power supply or load function, and excess energy cannot be effectively recycled in the test process, and through cooperative work of the alternating current power supply module, the load module and the energy feedback module, the test efficiency is improved, and the test cost is reduced. Programmable output of an alternating-current power supply, flexible simulation of load characteristics and efficient feedback of redundant electric energy are achieved, the flexibility and the resource utilization rate of the test are improved, the optimal design of the control module comprises the functions of data acquisition, control optimization, fault diagnosis and the like, the real-time performance, stability and reliability of the system are ensured, and the test efficiency is improved. And the load change and the fault condition can be quickly responded.

The invention belongs to the technical field of power electronics, and relates to an energy feedback high-power-factor air conditioner compressor driving system. Comprising a direct-current bus, a direct-current bus electrolytic capacitor, a motor driving circuit, a shutdown energy feedback circuit, a permanent magnet synchronous motor and a motor control module, wherein the two ends of the direct-current bus electrolytic capacitor are connected with the positive electrode and the negative electrode of the direct-current bus respectively; in the energy feedback control module for driving the combined switch device in the shutdown energy feedback circuit, the motor driving circuit and the shutdown energy feedback circuit, the second connecting end I of each phase of bridge arm is connected with the positive electrode of the direct-current bus, and the second connecting end II of each phase of bridge arm is connected with the negative electrode of the direct-current bus; the first connecting end of the phase bridge arm of the shutdown energy feedback circuit is connected with the phase power grid voltage through the phase filter inductor. The method can maintain the stability of the DC bus voltage, and reduces the influence of the power grid voltage fluctuation and the air conditioner compressor load fluctuation.

An elevator energy-saving control system of a direct feed network relates to the technical field of elevator energy-saving control, and comprises an energy conversion module for converting kinetic energy and gravitational potential energy generated during operation of an elevator car into direct current; the control system module monitors elevator running state data and power grid parameters in real time, judges whether the elevator is in a power generation state or not according to a monitoring result, automatically starts an energy feedback mode and controls starting and stopping of energy feedback and power adjustment; the inversion grid-connected module is used for converting the direct current into alternating current, processing the generated alternating current and feeding back the electric energy in the form of the processed alternating current to a power grid; and the man-machine interaction module is used for receiving data information of the control system in real time and converting the data information into visual display content, so that a worker can master the operation condition of the system in time and deal with abnormal problems. The elevator running energy consumption is remarkably reduced, the running cost is reduced, meanwhile, the service life of equipment is prolonged, the stability of the equipment is improved, and the influence on the environment is reduced.

The invention discloses an electric drive winch energy recovery control method, system and device and a medium, and belongs to the technical field of battery management control technologies. The electric drive winch energy recovery control method comprises the steps that the maximum pulse recharging power and the current charge state of a power battery at the current moment are determined; if the winch lowering instruction is received, a winch motor is controlled to conduct lowering according to the speed corresponding to the winch lowering instruction; the current gravitational potential energy feedback power generated in the descending process of the winch motor is detected, the average value of the current gravitational potential energy feedback power in the preset period is calculated, and the average feedback power is obtained; and determining a recharging strategy according to the maximum pulse recharging power, the current charge state and the average feedback power, and adjusting the recharging power of the target device to the power battery according to the recharging strategy. According to the invention, the safety of the recharging process of the power battery of the extended-range electric engineering machinery can be improved.

The invention discloses an automobile fastener production energy consumption optimization control method and system, and relates to the technical field of fastener production, and the method comprises the following steps: obtaining a real-time current waveform signal and a power grid fundamental wave voltage signal of an inversion unit in an energy feedback link, building a phase dynamic drift model through a time difference analysis algorithm, and carrying out the calculation of the phase dynamic drift model; continuous mapping of energy flow direction change is formed on a time axis; and based on the established phase dynamic drift model, extracting an offset rate continuous change section between the current waveform and the power grid fundamental wave, constructing a phase trend prediction function by using a sliding window algorithm, and converting the time characteristic of the energy flow direction change into a phase prediction signal trajectory. Through phase dynamic drift modeling and lead compensation control, synchronization of feedback current and power grid voltage is realized, and ripple current and element stress are reduced; and through energy density change rate extraction and dynamic filtering regulation and control, the energy flow is stable and continuous, and efficient and energy-saving control over fastener production is achieved.

The invention discloses a tuned mass vibration damper with controllable damping, and relates to the field of vibration control of offshore wind power generation equipment structures. The mass damping unit is arranged in a suspended mode, the clamping ring is coaxially arranged, the electromagnetic damping units are evenly distributed in the circumferential direction of the clamping ring, and the electromagnetic damping units are connected with the mass damping unit through winding ropes which are arranged in a radial mode to form a multidirectional synergistic composite damping system; the mass damping unit generates reverse inertia force in vibration to restrain movement of the tower and drives the electromagnetic damping unit to act at the same time, the generator is driven to generate electromagnetic damping through the one-way bearing and the speed increaser, and lossless reset is achieved through the torsion ring. The device is integrated with an energy recovery unit, vibration energy is converted into electric energy to be stored, real-time regulation and control of damping force, omni-directional vibration response and energy feedback are achieved, and the vibration reduction efficiency and the energy utilization rate are remarkably improved.

The invention discloses a frequency quasi-independent controllable double-frequency electrically small rectification circuit, and belongs to the field of radio frequency energy collection. The rectifying circuit comprises a double-frequency matching network, a blocking capacitor, two Schottky diodes, a filter capacitor and a resistive load. The dual-frequency matching network is composed of a capacitor, an inductor and a microstrip line and used for achieving impedance matching of two working frequency points and achieving quasi-independent regulation and control of the positions of the two frequency points by adjusting the value of the inductor and the length of the microstrip line. And the microstrip line is bent for five times so as to realize the miniaturization of the overall structure of the circuit. The blocking capacitor is used for blocking a direct current component and avoiding energy feedback; the two Schottky diodes are used for converting a radio frequency signal into direct current energy; the filter capacitor is used for improving the smoothness of output direct current energy and improving the energy conversion efficiency. The device is compact in structure, adjustable in frequency point position and suitable for a dual-band radio frequency energy collection scene.

The invention provides an unmanned aerial vehicle wireless energy supply method and system based on multiband laser and intelligent tracking and pointing, and relates to the technical field of unmanned aerial vehicle wireless energy transmission. The method comprises the following steps: dynamically selecting a 1064nm or 1550nm laser band according to a real-time distance between the unmanned aerial vehicle and a transmitting end, and shaping a Gaussian beam into a flat-topped beam through a variable-focus collimating lens group; a tracking and aiming mode combining coarse tracking and fine tracking is adopted, in fine tracking, through an infrared beacon and a CCD image servo closed loop, observation noise covariance is dynamically estimated in combination with a Transform-AKF fusion algorithm, and process noise covariance is adjusted in a self-adaptive mode; the offset of the reflection light spots is detected through the reverse reflector to realize jitter compensation; fusing the fine tracking angle and the jitter compensation amount to generate a final aiming instruction; meanwhile, according to energy feedback data and tracking errors of a receiving end, laser output power is adjusted in a self-adaptive mode through a PID algorithm. According to the invention, long-distance, high-precision and self-adaptive unmanned aerial vehicle wireless energy transmission is realized.

The invention discloses an elevator energy feedback and energy storage system, and belongs to the field of energy feedback. Comprising a super capacitor cabinet, the super capacitor cabinet comprises a cabinet body frame, and the side surface of the cabinet body frame is provided with ventilation mesh holes; the dehumidification module is arranged on the inner wall of the cabinet body frame, and the dehumidification module is used for removing moisture in the super capacitor cabinet; the dust removal module is arranged on the side face of the cabinet body frame and used for synchronously cleaning the ventilation mesh holes along with falling of the dehumidification bag; and the collection module is arranged on the dehumidification module, and the collection module is used for collecting the dust falling into the super capacitor cabinet. According to the elevator energy feedback and energy storage system, a dehumidification bag is automatically replaced through the dehumidification module, and low-frequency inspection is adapted; the dust removal module cleans the ventilation mesh holes through mechanical linkage; the collecting module collects dust through an air curtain and a drawer. The three synergistically guarantee dehumidification, ventilation and dust prevention, reduce the risk of short circuit, and ensure long-term reliable operation of the elevator energy storage system.

The invention discloses a PT ferromagnetic resonance adaptive collaborative suppression method and system, and the method comprises the steps: sampling a voltage signal, a current signal and a PT secondary side voltage signal monitored by a high-voltage end sensing unit in real time, and calculating a primary side voltage change rate and harmonic content; comparing the calculated primary side voltage change rate and harmonic content with corresponding preset thresholds, controlling to input a neutral point reconstruction unit, and destroying resonance conditions by changing neutral point grounding impedance; after the neutral point reconstruction unit works, the input energy feedback unit is controlled and used for absorbing resonance energy; and when it is detected that the resonance threat is eliminated, the neutral point reconstruction unit and the energy feedback unit are controlled to be turned off in sequence, and active cooling of the high-voltage end sensing unit is started by using residual energy in the energy feedback unit. According to the method, by monitoring the voltage change rate and the harmonic content in real time, a neutral point is rapidly triggered to reconstruct and damage resonance, energy is absorbed and fed back through an energy feedback unit, and finally system safety recovery is achieved.

The invention discloses an electromagnetic permanent magnet hybrid quasi-zero stiffness energy feedback vibration isolator which comprises a bearing support, positive stiffness spring mechanisms, an electromagnetic negative stiffness mechanism and a pre-pressing spring mechanism, the multiple positive stiffness spring mechanisms are arranged on the outer ring in the bearing support, and the electromagnetic negative stiffness mechanism is arranged in the bearing support. According to the quasi-zero stiffness vibration isolator, the quasi-zero stiffness characteristic is achieved through parallel connection of negative stiffness permanent magnetic force and positive stiffness spring force, dynamic adjustment of the stiffness is achieved through electromagnetic force so that the vibration isolation system can reach the quasi-zero stiffness more accurately, and therefore the vibration isolation effect of the vibration isolator is improved. And meanwhile, an energy feedback coil is additionally arranged in the vibration isolator, and energy generated in the vibration process is converted into electric energy to be recycled, stored and utilized.

The invention discloses a plugboard detection equipment management system and method, and relates to the technical field of equipment management, and the method comprises the following steps: S100, collecting response tracks of an illumination signal and an image sampling signal under nanosecond-level time domain precision, generating a coupling frequency spectrum of the illumination signal and the image sampling signal, and extracting a time domain relation between current response delay and sampling trigger drift; constructing a time sequence data set for control; s200, constructing a dynamic illumination distribution model based on the time sequence data set, analyzing the phase difference between the illumination brightness change and the sampling signal, extracting a key anchor point causing the sampling delay mutation, and calculating the time weight of the anchor point; according to the method, the time domain base line is established through unified time marks, dynamic illumination modeling and anchor point recognition are combined, image sampling delay prediction and compensation are achieved, a synchronous phase locking and energy feedback mechanism is matched, a closed-loop control chain is constructed, the sampling stability and the detection precision are improved, and the method is suitable for a high-consistency plugboard detection production line.

The application discloses a method and system for optimizing and controlling energy consumption in automobile fastener production, and relates to the technical field of fastener production. The method comprises the following steps: obtaining real-time current waveform signals and power grid fundamental voltage signals of an inverter unit in an energy feedback link, establishing a phase dynamic drift model by using a time difference analysis algorithm, and forming a continuous mapping of energy flow direction changes on a time axis; extracting a continuous change section of an offset rate between the current waveform and the power grid fundamental based on the established phase dynamic drift model, constructing a phase trend prediction function by using a sliding window algorithm, and converting the time characteristics of energy flow direction changes into a phase prediction signal trajectory. The application realizes the synchronization of feedback current and power grid voltage by phase dynamic drift modeling and advance compensation control, reduces ripple current and component stress, extracts energy density change rate and dynamically filters and regulates, makes energy flow smooth and continuous, and realizes efficient and energy-saving control of fastener production.

According to one embodiment of this application, a testing method for a braking unit is provided. The braking unit to be tested is connected to the DC bus of a frequency converter, and the frequency converter is connected to a motor. The motor is driven to accelerate to a preset speed. An emergency stop operation is performed on the motor, causing the motor to generate energy feedback to the DC bus of the frequency converter, thereby causing the DC bus voltage to rise. By monitoring the DC bus voltage, when the DC bus voltage rises to a preset threshold, the braking unit is triggered to operate, consuming the feedback energy in the braking resistor of the braking unit. By adjusting the emergency stop time of the motor, the feedback energy consumed by the braking unit is controlled, thereby enabling the testing of different braking powers of the braking unit to be tested. This method improves the accuracy and versatility of the test and is more user-friendly. This application also provides a testing system for a braking unit.

The invention relates to a brushless direct current motor simulator system and method. The brushless direct current motor simulator system comprises a motor simulator unit and an energy feedback unit. In the motor simulator unit, a motor resolving model calculates and outputs three-phase current as instruction current based on an input line voltage and a load torque instruction; the motor simulator unit controller takes an interface input side phase current as a tracking current and adopts a current tracking control strategy based on dynamic current deviation compensation to obtain an instruction voltage so as to drive and control a motor simulation power converter; in the energy feedback unit, a phase-locked loop obtains a power grid phase angle based on alternating current side voltage and current; and the energy feedback unit controller generates instruction voltage by adopting a fixed direct current side voltage control strategy based on power grid voltage orientation so as to drive and control the energy feedback power converter. Compared with the prior art, the square wave current and the trapezoidal wave back electromotive force of the brushless direct current motor and the external port characteristics of the brushless direct current motor under normal operation and fault working conditions can be accurately simulated.

The application provides a construction elevator regenerative electric energy self-adaptive feedback energy-saving system and method based on bus voltage time sequence feature working condition recognition, and belongs to the technical field of building construction energy saving. The system comprises a construction elevator without counterweight, a working condition intelligent recognition module, an energy feedback system, a construction site 380V power frequency power grid and a multiplex terminal. The construction elevator is the main body of energy recovery, the working condition intelligent recognition module collects the instantaneous value of the frequency converter direct current bus voltage of the construction elevator, the duration of the bus voltage being continuously higher than the reference threshold value, calculates the voltage change rate, identifies three working conditions of heavy load descent, no-load ascent and braking based on a weighted multi-parameter discrimination algorithm, and dynamically matches the start-stop voltage threshold value of the corresponding energy feedback system according to the working condition recognition result. The application solves the tedious problem of traditional manual measurement of threshold value, realizes dynamic threshold value matching maximum feedback efficiency, realizes efficient recovery of energy, does not modify the original system, has an extremely simple structure, has high intelligence, and is safe and reliable in operation.

The invention discloses a magnetic suspension compressor energy feedback method and system, a compressor, a medium and a program product, and relates to the technical field of compressors, the magnetic suspension compressor energy feedback method comprises the following steps: collecting the real-time bus voltage of the compressor, and when the real-time bus voltage is lower than a preset cut-in voltage threshold, controlling the compressor to enter an energy feedback mode, in the energy feedback mode, a motor of the compressor is controlled to provide electric energy for a preset voltage controller; and inputting a preset bus reference voltage and the real-time bus voltage into a voltage controller, and controlling the voltage controller to output a motor quadrature-axis current to a bus capacitor of the compressor so as to supply power to a bearing controller. The bearing controller cannot be powered off after the magnetic suspension compressor is powered off, the dry grinding condition is avoided, and the operation stability of the compressor is kept.

An electromechanical steering system comprises a first actuator having a first electric motor and a first control unit, and a second actuator having a second electric motor and a second control unit, wherein the first electric motor can be operated in a motor mode or a generator mode depending on the driving situation, wherein the first actuator and the second actuator are communicatively connected to one another, and the second control unit is designed, in a generator mode of the first electric motor, to actuate the second electric motor in such a way that a current that is generated in a generator mode of the first electric motor is converted energetically by the second electric motor, in particular by influencing a Id current for the second electric motor specified by vector control. A method for operating such a steering system in a motor vehicle comprises generating a current in a generator mode of the first electric motor and energetically converting the generated current by the second electric motor.

The application provides a piezoelectric energy feedback suspension equivalent stiffness and damping measurement method and device, and relates to the technical field of suspension stiffness and damping measurement. The method comprises the following steps: building a test platform; simulating the motion process of the excitation gear and the piezoelectric cantilever beam when the piezoelectric energy feedback suspension vibrates, obtaining the vibration displacement of the free end of the piezoelectric cantilever beam, and measuring the voltage signal generated by the piezoelectric cantilever beam during the vibration process; obtaining the speed change curve of the free end of the piezoelectric cantilever beam based on the change of the vibration displacement with time; drawing the voltage change curve of the piezoelectric cantilever beam during the vibration process according to the voltage signal; obtaining the continuous stiffness of the piezoelectric cantilever beam, so as to obtain the equivalent stiffness and equivalent damping of the piezoelectric energy feedback suspension. The application can measure the equivalent stiffness and damping of the piezoelectric energy feedback suspension, and provides a theoretical basis for the dynamic characteristic analysis and real vehicle application of the piezoelectric energy feedback suspension.

The application discloses a coasting energy feedback method and device, equipment and computer readable storage medium, and relates to the technical field of vehicle control. The coasting energy feedback method comprises the following steps: obtaining driving condition information of a current vehicle, wherein the driving condition information at least comprises vehicle load, road slope and road friction coefficient; determining a target intensity level of coasting energy feedback of the current vehicle according to the vehicle load, the road slope and the road friction coefficient; and controlling the current vehicle to perform coasting energy feedback based on the target intensity level. The application solves the technical problem that the existing coasting energy feedback method is difficult to adapt to different driving conditions.

The invention discloses a direct-current ship power grid fault flexible ride-through method based on zero-sequence current injection, which belongs to the technical field of direct-current ship power grid fault protection, and comprises the following steps: when a switch fault is detected, positioning the position of a fault switch; calculating the degree of asymmetry of the direct-current voltage according to the output voltage requirement of the inverter; the direct-current voltage asymmetry degree serves as input, the rectifier is controlled through carrier amplitude modulation and zero-sequence component injection, and asymmetric direct-current voltage is output; the method comprises the following steps of: determining locking and conducting switches when different switch faults occur, and controlling an inverter to realize generation of separated alternating-current phase voltage and optimal zero-sequence component injection through two-level carrier modulation according to asymmetric direct-current voltage so as to complete flexible fault ride-through of the frequency converter. By adopting the method, the processes of capacitor discharge, energy feedback and the like in the fault period are adjusted through the control factors, system instability and equipment reverse rotation are prevented, and continuous power supply and operation safety of a ship power grid are guaranteed.

The present application relates to the technical field of image data processing, and more particularly to an elevator car passenger distribution monitoring method for elevator energy feedback optimization, comprising: acquiring an overhead image of an elevator car, identifying passenger shape centers and quantity, constructing a deformation action matrix, generating a deformed two-dimensional Gaussian function, superimposing to generate a quality density field, calculating the coordinates of the actual centroid of the elevator car, based on the coordinate deviation of the actual centroid and the geometric center of the elevator car, calculating the additional friction power loss, dynamically compensating the energy feedback control parameter, and completing the elevator car passenger distribution monitoring for elevator energy feedback optimization.

The invention provides an urban rail transit traction power supply flywheel energy storage and medium-voltage energy feedback collaborative optimization configuration method, and the method comprises the steps: introducing a flywheel energy storage unit FESE and an inversion energy feedback unit IEFE into an urban rail transit power supply system at the same time, and constructing an urban rail transit AC-DC hybrid power flow analysis model; taking the daily total cost and the static recovery period as targets to construct a comprehensive cost index; the number of FESEs and the number of IEFEs are used as discrete variables, a charging voltage threshold value and a discharging voltage threshold value of the FESEs and an action voltage threshold value of an inversion energy feedback unit are used as continuous variables, a hierarchical swarm intelligent optimization method is adopted, the purpose of minimizing a comprehensive cost index is taken as a target, and on the premise that the operation constraint of a power supply system is met, the power supply system is optimized. And outputting a collaborative optimization configuration scheme including the FESE number, the IEFE number and the sum of the FESE number and the IEFE number of the traction substations.

The invention discloses a three-level inverter circuit, a gradient amplifier and electronic equipment. The three-level inverter circuit comprises four bridge arm switches, two clamping switches, an absorption capacitor and an inductor. The joint of the first switch and the second switch is connected with one end of the absorption capacitor and the first clamping switch, the joint of the third switch and the fourth switch is connected with the other end of the absorption capacitor and the second clamping switch, and the joint of the first clamping switch and the second clamping switch is connected with a neutral point. The joint of the second switch and the third switch is connected with one end of the inductor, the other end of the inductor is connected with a power grid end, and in the zero-crossing switching process of the three-level inverter circuit, after one of the second switch and the third switch is controlled to be switched off, the other one of the second switch and the third switch is controlled to be switched on. According to the three-level inverter circuit, the energy of the absorption capacitor can be fed back to the inductor in the zero-crossing switching process, so that the loss is reduced.

The application discloses a kind of based on binocular camera formula hybrid electromagnetic suspension control system, including travel information detection unit, binocular camera comprehensive evaluation index calculation unit, binocular camera formula hybrid electromagnetic suspension control mode selection unit, binocular camera formula hybrid electromagnetic suspension execution unit.Travel information detection unit is used to obtain outdoor temperature, full energy feedback control mode execution time, half energy feedback half energy consumption control mode execution time, full energy consumption control mode execution time;Binocular camera comprehensive evaluation index calculation unit is used to calculate image pre-detection evaluation factor, original image correction evaluation factor, temperature compensation evaluation factor, to obtain binocular camera comprehensive evaluation index;Binocular camera formula hybrid electromagnetic suspension control mode selection unit includes full energy feedback control mode, half energy feedback half energy consumption control mode, full energy consumption control mode;Binocular camera formula hybrid electromagnetic suspension execution unit is adjusted according to different control mode to vehicle corresponding rule.

The invention discloses an industrial power-saving system and method based on multi-frequency-band conflict avoidance and energy feedback, and relates to the technical field of industrial power-saving systems.The method comprises the steps that a power grid fundamental wave synchronizing signal is obtained through a zero-cross detection circuit, an integrating circuit is input to generate a slope time-base signal, and the time-base signal is used for controlling the triggering moment of a high-frequency modulation pulse; the method comprises the following steps: modulating a pulse to intensively act on wave crest and wave trough areas of an AC voltage waveform, exciting an LC resonant circuit connected to a DC side of an electric energy conversion device by the modulating pulse to enable the LC resonant circuit to enter a quasi-resonant state in a phase interval, and actively releasing energy to a load by an energy storage capacitor; the system is controlled to be switched on preferentially, power supply competition for a main power supply is formed, main current output is correspondingly reduced on the premise that load power is not changed, energy conservation and consumption reduction are achieved, and the system further improves electric energy quality and operation stability through unified clock synchronization, phase out-of-sequence control, energy local circulation and impedance frequency band avoidance.

The invention discloses an all-electric engine self-powered system architecture and a control strategy thereof, and belongs to the field of aircraft power supply systems. The structure of the all-electric engine self-powered system is composed of an aero-engine, two starting generators, two sets of AC / DC starting power generation controllers, two 270V high-voltage DC bus bars, an electric energy storage device, a 28V low-voltage DC bus bar, a multi-port bidirectional DC / DC converter, a multi-port bidirectional DC / AC inverter, an oil pump motor and an electric actuator. The self-powered system is isolated from an external power supply system. And controlling the self-powered system according to the control strategy. The self-powered system architecture and the control strategy can effectively enhance the reliability and the stability of an engine key load power supply network, and improve the power supply quality of the power supply system; voltage fluctuation on the high-voltage bus bar is suppressed; energy feedback and efficient utilization are realized; the system cost and complexity are reduced, and the fault-tolerant capability and reliability of the self-powered system can be effectively improved.

The utility model provides an energy feedback time-phased output system of a gantry crane, and belongs to the technical field of energy utilization. The portal crane energy feedback time-phased output system comprises a generator, a rectifier, a storage battery, a first switch, an inverter module, an electric quantity monitoring module and a control module, the input end of the rectifier is connected with the output end of the generator; the output end of the rectifier is connected with the input end of the storage battery; the first end of the first switch is connected with the output end of the storage battery, the second end of the first switch is connected with the input end of the inverter module, and the control end of the first switch is connected with the control signal output end of the control module; the electric quantity monitoring module is connected with the storage battery; the output end of the inverter module is used for grid connection; the generator is configured to convert mechanical energy of the crane into electrical energy. According to the invention, the stability and reliability of energy feedback can be improved.

The invention relates to the technical field of robot actuators, and particularly discloses an integrated joint module with torque sensing and energy self-recovery functions and a design method. The design method comprises the steps that a physical framework of the joint module is constructed; a nonlinear elastic torsion model and a dynamic friction model of the harmonic reducer are constructed, and torque is calculated and derived; calculating a physical sampling torque; fusing the derived torque and the physical sampling torque by adopting an adaptive Kalman filtering mode to obtain a final torque signal; an energy feedback model in a motor braking mode is constructed, and when the joint module decelerates or is dragged by external force, the instantaneous flow of recyclable electric energy is calculated in real time based on the energy feedback model; a super capacitor and a DC-DC converter are introduced for energy recovery; and when the joint module is started or enters an acceleration stage, the energy stored by the super capacitor is released to the direct current bus. Nonlinear transmission interference caused by a harmonic reducer can be effectively eliminated, and in-situ recovery and peak power assistance of braking kinetic energy can be achieved.

The invention discloses a braking energy recovery control method for an electric vehicle. The method comprises the following specific steps: 1, acquiring an accelerator, a brake pedal, a parking signal, a vehicle speed signal and a battery load value; 2, starting a braking energy feedback mode; 3, the current vehicle speed value is obtained, and the braking torque is obtained; 4, the current state of the power battery is obtained, and the limit braking torque of the power battery is calculated; 5, the current rotating speed of the driving motor is obtained, and the limiting braking torque of the driving motor is calculated; 6, obtaining the maximum feedback torque limit value of the driving motor; 7, comparing the braking torque, the power battery limit value braking torque, the driving motor limit value braking torque and the driving motor maximum feedback torque limit value to obtain a minimum value Tmin; 8, acquiring a feedback torque value Trq of the drive-by-wire ACBS; step 9, comparing the minimum value Tmin and the torque value Trq, and taking the maximum value T as the final feedback torque; and tenthly, electron rotation is controlled to conduct energy recovery according to the final braking target torque.