In order to reduce the dependence of the vehicle acceleration sensor in the regenerative braking control for an electrical vehicle and explore the direct response of energy recovery and regenerative braking deceleration

this paper explores a dynamic control method in the electric motor based on energy constraint control (ECC) which relates to the conservation of energy during the breaking process. The research focuses on the regenerative braking system (RBS) of the series hybrid energy storage system (SHESS) with battery and ultracapacitor (UC)

which targets deceleration. For the sake of eliciting the energy constraint equation

the detailed energy flow path is analyzed in the regenerative braking process. Considering the impact of error and sample time

the algorithm of ECC is designed with a quadratic Lagrange interpolation. In addition

the ECC algorithm is verified by software-in-the-loop (SIL) and hardware-in-the-loop (HIL). Moreover

it is determined that the proposed control method works effectivity without an acceleration sensor and RBS with ECC can achieve a 21.69% braking recovery.