针对吉林大学自主开发的基于传统 ESC 液压调节单元的单轴解耦式制动能量回收系统，开发了固定分配系数的串联控制策略，进行电机制动力和液压制动力的协调控制．将制动能量回收控制算法集成在制动控制器中，编写控制策略并进行实车试验．试验结果表明，以60km/h 的初速度分别进行协调制动、叠加80 N·m 电机力矩制动和叠加50N · m电机力矩制动，能量回收率分别达 24．84%、17．38% 和10．28%， 并且协调制动过程中车辆加速度与制动踏板保持稳定，驾驶员没有制动变“软”的感觉，说明所提出的控制策略能够提高制动能量回收率，并且保证制动踏板感觉．

The uniaxial decoupled braking energy recovery system based on the traditional hydraulic unit of ESC has been developed by Jilin University.Aiming at this system,this paper develops a control strategy of fixed partition coefficients to perform the coordinated control of electrical regenerative braking and hydraulic braking.Then,brake energy recovery control algorithms are integrated into a brake controller unit,and the control strategy is made to conduct a vehicle test.The results show that (1) when the initial speed is 60 km/h,the braking energy recovery rates are respectively 24.84%,17.38% and 10.28% for the coordination braking and the superposition braking with the desired motor torques of 80N · m and 50N · m,and (2) the vehicle deceleration and the brake pedal can be steady in the coordination braking process and the drivers has no feeling that the braking has become soft.The above results indicate that the proposed control strategy can improve the energy recovery rate and ensure that the brake pedal feeling is consistent with the traditional one.