Evaluation of A Lightweight Friction Brake Disc Design For A Regenerative Braking System

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Evaluation of a Lightweight Friction Brake Disc Design for a Regenerative


Braking System

Conference Paper · November 2010

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6th European Conference on Braking
JEF 2010, Lille, France

Evaluation of a Lightweight Friction Brake Disc Design for a


Regenerative Braking System.

S. Sarip1,2*, A. J. Day1, P. Olley1, H. S. Qi1


1
School of Engineering, Design and Technology, University of Bradford, West Yorkshire, BD7 1DP, U.K.
2
Razak School of Engineering and Advanced Technology, UTM International Campus, Jalan Semarak, 54100, K.L,
Malaysia.
*corresponding authors’ email address, sbinsari@bradford.ac.uk

Abstract:
One of the stated advantages of electric vehicles (EVs), and hybrid vehicles (HVs) is their ability to
recuperate braking energy. Regenerative braking (RB) would extend the working range of an EV or HV
provided that any extra energy consumption e.g. from increased vehicle mass and system losses did not
outweigh the saving from energy recuperation, also reduce duty levels on the brakes themselves, giving
advantages including extended brake rotor and friction material life, but more importantly reduced brake
mass, minimise brake pad wear. The objective of this paper is to define how much braking energy could
be absorbed by a regenerative braking system (RBS) on a passenger car, hence defining the duty
envelope of the friction brake. This will enable lighter brakes to be designed and fitted with confidence in
a normal passenger car alongside a hybrid electric drive. In this paper, a mathematical analysis
(MATLAB) is used to analyse the availability of regenerative braking energy during a single stop braking
event. The results showed how much of the total braking energy could be absorbed by the RBS of an
example hybrid car in single stop braking. Thermal performance is a key factor which is studied using
FEA simulations. Ultimately a design method for lightweight brakes suitable for use on any car-sized
hybrid vehicle will be developed. Some results from an experimental lightweight brake disc are shown to
illustrate the effects of RBS / friction combination in term of weight reduction.

Key words: Hybrid vehicle, regenerative braking, simulation, lightweight, brake disc, design, thermal,
temperature.

NOTATION i transmission gear ratio


J deceleration (m/s2)
A area of friction interface contact surface on k thermal conductivity (W/m K)
one face of a brake disc (m2) M mass of vehicle (kg)
Cp specific heat (J/kg K) m mass of disc (kg)
di inner diameter of disc (m) N motor speed (rev/min)
do outer diameter of disc (m) PGemax maximum generation power (kW)
E Young’s modulus (GPa) p pressure (Pa)
f1, f2 adhesion utilization front (1) & rear (2) axle pf inlet pressure (Pa)
FB brake force (N) pt threshold pressure (Pa)
Fbd braking force demand (N) Re disc effective radius (m)
Freg regenerative brake force (N) Rr tyre rolling radius (m)
g acceleration due to gravity (m/s2) S distance (m)
6th European Conference on Braking JEF 2010, Lille, France

t time (s) replaced after regenerative braking failure. The


Tb braking torque (Nm) question then is; “how far can the downsizing of
Tb ac actual front wheel brake torque (Nm) the friction braking go?” There is a need to
Tf ac friction brake torque (Nm) identify and justify what size and weight saving
Treg motor torque (Nm) can be made in a vehicle’s friction braking system
TEMreg electric motor regen. braking torque (Nm) while maintaining a safe level of performance
vi final speed (m/s) (within a specified operational envelope) in the
vo initial speed (m/s) event of regenerative braking failure. An example
X1, X2 proportion of total braking at front, rear axle of how this might be handled in practice could be
z rate of braking = J/g
to actively limit the vehicle driving speed in the
 efficiency event of regenerative brake system failure by the
 density (kg/m3) engine management control system, in a similar
µ dynamic (sliding) friction coefficient between
way that “limp-home” mode is invoked where the
the brake pad and the brake disc
On Board Diagnostics (OBD) has identified an
 Poisson’s ratio
engine fault which could affect emissions.
1. INTRODUCTION The purpose of this paper is to present an analysis
of how weight (and hence cost) reduction in a
Vehicle brakes are designed to provide adequate friction braking system might be reliably achieved
deceleration of the vehicle (defined by legislation, to deliver a specified level of braking duty
manufacturer’s standards, and customer capability for safe operation in a vehicle with
expectations) under all conditions which might be regenerative braking. Braking energy flows in
experienced by a driver using the vehicle. When a hybrid vehicles have been simulated to investigate
vehicle is fitted with regenerative braking, kinetic the relationship between the available braking
energy that was previously 100% dissipated energy from the front wheels of the car and the
through the friction brakes (FB) is now partly total braking energy in a typical urban driving
absorbed by the regenerative braking system cycle. Results from other studies have showed that
(RBS) and partly dissipated by the friction 50% - 60% of braking energy can be recovered by
braking, which results in lower duty on the regenerative braking in urban driving [2].
friction brakes. This offers the opportunity to Regenerative braking can recover about 45% of
specify smaller and lighter brake system total kinetic energy for a city bus [3].
components, e.g. disc, pads, caliper, and actuating
system. Weng-yong [4] designed a system to distribute
braking into regenerative braking torque and
However there is a question of what happens if for mechanical friction torque. This was intended to
some reason, the RBS is not able to carry any give maximum use of kinetic energy recovery, and
braking duty (e.g. no remaining energy storage could be applied to vehicles with Emulated
capacity-battery, or system failure) and the vehicle Engine Compression Braking (EECB). The
is required to meet expected performance algorithm was based on regenerative torque
standards on the friction braking alone. In the optimization to maximise the actual regenerative
event of RBS failure, the legislation (No. 13H)[1] power, reduce the thermal load and increase the
states that all electric or hybrid vehicles shall be life-span of the front brake discs. Peng [5]
capable of providing indication of brake failure designed a combined braking control strategy
and a warning signal must be provided to the based on a new method of HV braking torque
driver when this occurs. In this case the friction distribution in which the hydraulic braking system
brakes must be able to decelerate the car safely worked together with the regenerative braking
whatever its speed and load on any up or down system to meet the requirements of vehicle
specification of gradient in the allowable stopping longitudinal braking performance, and to
distance equivalent to 55% g (5.4 m/s2) [1]. A maximise regenerated energy for a parallel HV.
‘downsized’ friction brake system may still be Hydraulic braking torque could be adjusted by a
able to provide expected performance standards of logic threshold strategy, and a fuzzy logic control
braking in the absence of regenerative braking, but strategy was used to adjust the regenerative
would not be able to do so for any extended period braking torque. The proposed braking control
of usage. So, if a lightweight braking system were strategy was demonstrated by simulation using a
to be fitted to a hybrid vehicle with regenerative low adhesion coefficient road (below 0.3) for
braking, its failure would not compromise vehicle emergency braking.
safety but would limit the operational life of the
friction brakes, meaning that (a) the RBS should
be repaired as soon as possible, and (b) the friction
brake system should always be maintained or
Evaluation of a Lightweight Friction Brake Disc Design for a Regenerative Braking System

2. REGENERATIVE BRAKING that the maximum generated power is equal to the


nominal drive power as this means that the
For the work presented here, a test car has been motor/generator and electric storage system will
used to investigate duty levels and braking be operating within safe current limits. Using the
performance. The vehicle data are summarised in symbol N for the motor speed in rev/min, the
Table 1; it has two front wheels with disc brakes electric motor regenerative braking torque is
and two rear wheels with drum brakes. calculated as
Legislation requires that the car can decelerate to
rest at a minimum of 6.43 m/s2 or 0.66 g from
speeds up to 100 km/h (vehicles of category M1 -
cars) although manufacturers’ own specifications
often far exceed this. For a Type 0 test on this
particular car, with the engine disconnected (as
The condition for N ≤ 1500 rev/min is applied as
defined in Regulation 13H, Annex 4) [1], the total
this reflects that the full power capacity of the
kinetic energy to be dissipated by each front brake
motor can be used above 1500 rev/min, with an
is 231 kJ. The axle brake torque for each front
approximately linear rise in power this level
brake is 1154 Nm providing a brake force (FB) of
(equal to a constant motor torque). The torque is
3845 N. The vehicle stops from 100 km/h in 4.3
higher for a 50 kW motor/generator compared to
seconds and develops an initial braking power of
smaller e.g. 20 kW and 10 kW motors. This shows
107 kW.
that more powerful electric motors allow more
regenerative braking torque than lower power
Front brakes Ventilated disc
motors. The Toyota Prius (ICONIC 2004-2009)
Rear brakes Drum model uses a 30 kW motor/generator in its
Gross Vehicle Mass, M (kg) 1495 regenerative braking system; the next generation
Disc surface outer diameter, Do (m) 0.258 (2010) has a 60 kW motor [7]. Regenerative
Disc surface inner diameter, Di (m) 0.146
braking torque also depends on battery storage [8].
If the required braking torque, Tb is smaller than
Tyre rolling radius, Rr (m) 0.3
the available motor torque, Treg, the front wheels
Table 1. Test car technical data could theoretically achieve 100% regenerative
braking (Treg > Tb) with purely regenerative front
2.1. Regenerative braking force wheel braking. In practice power is limited by the
distribution (RBFD) design of the hybrid vehicle powertrain in terms of
safe current limits and energy transfer rates
The braking force of a hybrid vehicle is provided
(power). Under emergency braking the required
by friction brakes and the regenerative braking
vehicle deceleration is higher; the friction braking
system. During the braking phase, the regenerative
must work together with the regenerative braking
braking causes the wheels to apply torque to the
(Treg < Tb). The distribution of brake forces
motor/generator which absorbs power and slows
between the front and rear wheels must be
down the vehicle. The friction braking will be
designed to achieve vehicle stability (e.g. high
activated when higher deceleration is required to
efficiency without premature rear wheel lock).
provide additional stopping power. LaPlante [6]
The actual front wheel brake torque, Tb ac for a
found that a HV can generate between 14% and
vehicle fitted with regenerative braking at the
48% of extra braking power by using regenerative
front wheels is calculated from
braking in the Federal Urban Driving Schedule
(FUNDS), and 53% of extra braking power in
Tb ac = Tf ac + TEMreg (2)
Japan’s 10-15 mode (combination of five driving
cycles for Japanese Driving Cycles).
2.3. Electric motor/generators for a parallel
2.2. Regenerative braking torque (RBT) hybrid braking system
The configuration of a parallel hybrid vehicle’s
In an emergency situation the regenerative braking
braking system is similar to a conventional
from an electric motor/generator is unlikely to be
braking system which uses a hydraulic or
able to supply sufficient braking torque for the
pneumatic actuator to deliver braking force [2].
required deceleration, and has to be operated
Calculations of the regenerative braking torque
together with the friction brakes to provide the
assuming that the friction brakes have a fixed ratio
required braking power. Maximum generation
(X1= 0.8 and X2= 0.2) braking force distribution
power PGemax depends on the size of the electric
on the front and rear wheels have been made for
motor/generator, and may be further limited by the
different sizes (power) of motor/generators to
rate at which energy can be transferred to the
investigate how they affect regenerative braking in
battery. For an electric motor it is safe to assume
a passenger car. The calculation was programmed
6th European Conference on Braking JEF 2010, Lille, France

using MATLAB, see Fig. 1. Fig. 2 shows the


torque available from regenerative braking at low
speed (15 km/h) for a range of motor powers
(using gear ratios to maintain the motor at
maximum power generation) as shown in Table 2.
The torque is also expressed as a percentage of
required front wheel torque. Where this torque
exceeds 100% the regenerative braking must
reduce braking torque by either a lower gearing,
or by limiting current flow from the
motor/generator. When the available regenerative Figure 2. Friction braking energy recuperation
torque is below 100%, the friction brake must be potential for different motor/generator size (single stop
operated to supply the difference. Figures 3 and 4 braking for vehicle speed 15 km/h at 0.15 g)
show the corresponding results for 30 km/h and 60
km/h. The regenerative system is seen to provide
less of the torque, and thus is able to regenerate
less of the braking power from higher speeds.

Gear ratio 15 km/h, 0.15g 30 km/h, 0.15g 60 km/h, 0.4g


Lower 1.53 0.76 0.38
Higher 7.64 3.82 1.91

Table 2. Gear ratios for peak power used in


simulations

Figure 3. Friction braking energy recuperation


potential for different motor/generator size (single stop
Regenerative torque motor, braking for vehicle speed 30 km/h at 0.15 g)
TEMreg
Driver pedal TEMreg = Power*60/2**N
input
Regenerative torque, Treg
Treg = i*TEMreg*
 = 0.9
Brake force, FB
FB = 4*(p-pt)*A**Re/Rr Regenerative force, Fr
Fr = Treg/Rr

Figure 4. Friction braking energy recuperation


YES NO
FB > Freg potential for different motor/generator size (single stop
Both Regenerative braking for vehicle speed 60 km/h at 0.4 g
+ Regenerative only
Friction braking From the graphs above it can be seen that at 15
km/h the available regenerative braking torque
Calculate brake pf = 0 produced by higher power motors (60 kW) must
force demand, Fbd be limited because the regenerative torque is
Fbd = FB+Freg
higher than the demanded braking torque, which
Regenerative would result in more deceleration than required.
Calculate pressure, pf torque for Treg
It could also result in the adhesion utilisation limit
pf = (p-pt)-pr
being exceeded at the front or rear wheels (f1, f2)
Tb = Treg leading to wheel lock. The fraction that the
Calculate Tb from regenerative braking torque can provide varies
Tbd = Tb + Treg depending on the vehicle speed and motor power.
In this study the results shown in Fig. 2, 3 and 4
Figure 1. Flowchart of regenerative braking used in indicate that a 40 kW electric motor could recover
calculation from 30% up to about 45% of the total braking
energy in single stop braking from 60km/h
depending on the system efficiency.
Evaluation of a Lightweight Friction Brake Disc Design for a Regenerative Braking System

The calculations above provide a basis for likely development of lightweight brake discs in
designing a HV braking system to recuperate the future. A motorcycle disc brake was developed
maximum braking energy from the front wheels. in 1969 by Tokico using a one piece stainless steel
The power capacities of the electric disc with an aluminium caliper. The trend of disc
motor/generator are usually not sufficient to brake development has generally concentrated on
handle the large braking power when braking weight reduction and pad material improvement.
from high speeds, or at high deceleration. The Current disc brakes for motorcycles mostly use
electric motor/generator can provide up to its stainless steel with an aluminium alloy casting for
maximum braking torque and the friction braking the rotor and caliper body respectively. Progress
can provide the remaining braking force demand. has been made on a lightweight disc brake using a
It has been shown that when the vehicle carbon composite rotor and a magnesium forging
deceleration is less than 0.4 g at low speeds, the for the caliper body [11]. It was found that the
electric motor itself can provide all the required performance of brakes using advanced lightweight
brake torque and no conventional braking is materials can be very competitive, but are too
needed. However, when the required braking expensive for road use. Stainless steel has been
deceleration is higher than 0.4 g the required adopted for motorcycle brake discs apparently for
braking torque for the front wheels is greater than mainly cosmetic reason; many researchers e.g.
the electric motor/generator can provide. In this Boniardi [12] investigated the lifespan of stainless
case the conventional brake has to apply steel brake discs and found that small cracks can
additional braking force to provide the remaining occur after a few thousand miles of use, usually
force. From the calculations results, the use of located near to the fixing holes on the flange. The
regenerative braking in hybrid cars allows the cracks were found to be caused by thermal cyclic
braking energy dissipated by friction braking at strain during brake action. Boniardi used two
the front wheels to be reduced between 30% and types of brake discs made from martensitic
45%. This shows that using regenerative braking stainless steel. Each disc had a different chemical
in passenger cars gives a lower duty requirement composition (type A and type B discs); these discs
to the friction brake, and the use of a lightweight were then assessed against AISI 410 standards.
brake is possible. The results show that the life of a brake disc
depends upon the position of the ventilation hole
3. LIGHTWEIGHT BRAKE CONSEPT in the disc, the shape of the spokes and the
DESIGN material properties at high temperature. The
cracks that were found had possibly developed
The conventional design for a front brake disc for from excessive tempering of martensite at the high
a passenger car is a ventilated disc made from cast working temperatures. The type A disc, which
iron. Automotive manufacturers could fit new contained greater amounts of vanadium and
hybrid car models with lightweight components to molybdenum, was preferred because it was more
increase their efficiency and performance, for resistant to high temperature.
example replacing conventional cast iron brake
rotors with a thinner solid disc of appropriate 4. FINITE ELEMENT MODELS
material. This would reduce vehicle mass, help
reduce fuel consumption and thus meet vehicle 3-D finite element models of two brake discs were
legislation in terms of vehicle emissions of CO2, developed using the ABAQUS / CAE 6.8 software
HC, and NOx [9]. FEA has been used to estimate package. The two types of disc modelled were a
the disc temperature during vehicle braking [10], ventilated disc and a solid disc. Pads and piston
and the results presented next investigate a design assemblies were modelled using 8-node coupled
for a lightweight brake disc for the front axle of a temperature and displacement elements in a
hybrid car. cylindrical coordinate system. The ventilated disc
had a total of 2175 elements with 3128 nodes, and
One area in which lightweight discs are well the solid disc had a total of 1188 elements with
developed is the motorcycle. Although 1728 nodes (Fig. 5). The contact surface frictional
motorcycles are much lighter (in term of gross behaviour was simulated with a wheel rotational
weight vehicle mass) than cars, the design duty speed of 74 rad/s (the average maximum speed
level of a motorcycle front disc brake is based on single stop braking) with an initial disc
surprisingly high, largely because of the high temperature of 20°C. Frictional heat was generated
speed performance required. The rotor is designed by pressing the pads against the disc with a
to withstand possible emergency braking from a uniform pressure of 6 MPa on the piston side of the
high speed of 200 km/h and could reach a total discs.
kinetic energy of 231.8 kJ for a motorcycle weight
of 300 kg including the rider. Itoh discussed the
early design of motorcycle brake discs and the
6th European Conference on Braking JEF 2010, Lille, France
 258 mm
Thermal Specific Mass Young’s Poisson’s
conductivit, heat, Cp density, modulus, ratio, 
k (W/m K) (J/kg K)  (kg/m3) E (GPa)

Cast iron 43 500 7200 116 0.25


Stainless 25 460 7800 200 0.30
(a) steel

 258 mm Table 4. Material properties used in the FE models for


solid disc (steel) and ventilated disc (cast iron)

Temperatures during single stop braking were


predicted for both discs using FEA simulations for
vehicle masses of 1000 kg, 1500 kg and 2000 kg.
Fig. 7 shows the predicted temperature profiles at
(b) a point on the rubbing surface of each disc without
any regenerative braking (100% duty level on
Figure 5. (a) Standard ventilated disc and (b)
both discs). Fig. 8 shows the corresponding results
Solid disc.
where 30% of the braking energy has been
absorbed by regenerative braking. A peak is seen
4.1. Calculation of braking temperatures at every revolution on all curves as the
during single stop braking measurement point moves past the friction pad. In
both cases the ventilated discs remain cooler than
The geometries of the lightweight solid disc and
the solid discs, by approximately 50C. The high
the standard ventilated disc are given in Table 3,
speed stop results are shown in Fig. 9; the vehicle
and the properties of the materials for the two
equipped with regenerative braking has a solid
discs are given in Table 4. FEA simulation of
disc but has a much reduced peak temperature
single stop braking was used to determine the
compared with the solid disc without regenerative
effect of the vehicle mass on front brake
braking. This suggests that a lightweight brake
temperatures in terms of the local temperatures
could be used in a hybrid car even though the
and stress. Thermal conduction and convective
brake disc mass is reduced (from approximately
heat transfer were the two modes of heat transfer
5.25 kg to 3.75 kg).
considered. A convection heat transfer coefficient
of 100 W/m2 K was assumed over all exposed
surfaces and radiative heat transfer was assumed
negligible. This is a realistic approximation as
Peak Temp.
Peak
radiative transfer only becomes significant at
Temperature
higher temperatures than those involved here [13].
Both discs had a heat flux applied at the interface
with the pad, this interface moved as different
parts of the disc came into contact with the pads.
Reference [8] gives an equation describing
average heat flux for single stop braking.

(a) (b)

Figure 6. (a) Solid disc and (b) Standard ventilated


disc temperature field.
Thickness Disc Effective Friction Piston
(mm) diameter radius diameter
(mm) (mm) (mm)
Standard 22 258 101 0.4 53.8
ventilated
disc
Solid 6 258 101 0.4 53.8
disc

Table 3. Brake disc comparison


Evaluation of a Lightweight Friction Brake Disc Design for a Regenerative Braking System

350 temperature of the brake fluid and bearings. A


V 2000kg
Temperature (C) 300 three dimensional FE model of a solid steel disc,
250 V 1500kg with a standard pads and piston assembly was
generated to simulate stop braking. The disc was
200 V 1000kg 4.9 mm thickness, outer radius 129 mm and inner
150
S 2000kg radius 80 mm. An adaptor was designed to be
100 attached to the solid disc had to attach it to the
S 1500kg standard hub; it outer radius 82 mm, inner radius
50
0 S 1000kg 67.5 mm, and was 9.5 mm thick. The disc,
adaptor and pad were modelled using C3D8T
0 1 2 3 4 5 hexahedral type elements (8-node trilinear
Time (s) displacement and temperature). A solid disc has a
Figure 7. Temperature profiles of ventilated and solid total of 1326 elements with 2055 nodes. The
discs without regenerative braking (100% braking duty backplate and piston were modelled with
level for both) ABAQUS C3D8R [14] hexahedral elements (8-
node linear brick, reduced integration with
300 hourglass control). The bolts were modelled using
C3D8 hexahedral elements (8-node linear brick).
V 2000kg
250 The frictional contact between the pad and the
Temperature (C)

V 1500kg disc was defined on the element faces in the


200
contact region assuming the finite sliding
V 1000kg formulation. The contact surface frictional
150
SR 2000kg behaviour was simulated with a wheel rotational
100 speed of 80 rad/s with an initial disc temperature
SR 1500kg of 20°C. Frictional heat was generated by pressing
50
SR 1000kg
the pads against the disc with a uniform pressure of
0 6 MPa on the piston sides of the discs. A fully
coupled thermo mechanical analysis was completed
0 1 2 3 4 5
Time (s) to predict the temperature profile and corresponding
in changes in the brake disc shape caused by
Figure 8. Temperature profiles of ventilated discs
thermal deformation.
(100% duty level) and solid discs with regenerative
braking (70% duty level)

Node 1
400 Node 2
Ventilated Node 3
350
(100% duty) Node 4
300
Temperature (◦C)

Node 5
250
Solid (100%
200 duty) Figure 10. Nearly all the braking energy will be
150 absorbed the disc in a single stop brake application.

100
Solid Regen 250
50 (70% duty
200
Temperature (C)

0 with RB)
Node 3
950 1450 1950 150
Vehicle mass (kg) 100
Figure 9. Comparison of peak temperatures on
50
ventilated and solid discs, and the solid disc with
regenerative braking for single stop braking 0
0 1 2 3 4
4.2. Thermal design Time (s)
Based on the analyses above, a lightweight brake Figure 11. Maximum surface disc temperatures was
disc was developed to investigate the thermal found from five nodes on the friction surface; the
performance of the brake system (Fig 10). The highest temperature was at Node 3 (centre of the
aim was to evaluate disc heat flow and rubbing path).
temperature profile and its influence on the
6th European Conference on Braking JEF 2010, Lille, France

motor/generator. This study has quantified the


potential for the use of lightweight brake discs for
friction braking in conjunction with regenerative
braking using standard motor/generators within
drive cycles. A lightweight friction brake could be
designed for lower duty but this needs further
analysis and experimental verification. Thermal
Figure 12. Disc coning at the end of stop (4 s). stress analysis will be performed using FEA and
then verification and validation will be made
Coning of the brake disc (Fig. 12) was predicted. using the test car on a rolling road facility at the
This is primarily attributed to the thermal University of Bradford.
expansion of the rotor and its constraint at the hub
mounting face. The magnitude of the coning REFERENCES
displacement was calculated from the thermal
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diameter. Regenerative braking. A. Modern electric, hybrid electric,
and fuel cell vehicles: fundamentals, theory, and design,
New York, CRC Press, 2008.
The lightweight brake disc comprised two
[3] Chicurel, R. A compromise solution for energy recovery
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stainless steel mounted on an adaptor securely (1999), pp.1029-1034.
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prototype disc were its lightweight (only 3.3 kg), braking algorithm for an ISG HEV based on regenerative
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friction braking and regenerative braking can of the Institution of Mechanical Engineers, Part D:
reduce the duty level on the front friction braking Journal of Automobile Engineering 1989-1996 (vols 203-
to the extent that a lightweight brake disc could be 210), 205 (1991), pp. 199-205.
designed and used effectively to provide the [14]ABAQUS: “ABAQUS Version 6.5 Manual”, Hibbit,
Karlsson & Soreinsen, Inc, 2004.
required performance levels. Based on the results,
the total braking energy in one stop braking from
15 km/h could be recuperated by a 30 kW

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