Regenerative brake and batteries

Hi !! I am working in a project which involves moving a "vehicle" with some electric motors (https://www.maxonmotor.es/maxon/view/product/motor/ecmotor/ec/ec45/136197) In some cases the vehicle will go downhill so the motors will give energy back to the batteries (https://www.all-batteries.es/media/pdf/AML9133_UK.pdf) My question is, do I need to do anything to adapt this energy before introducing it to the batteries?
I have a controller which internally have an H bridge, but I do not know if I need some electronics to adapt the energy generated by the motors to the batteries.

Thanks a lot for your help!

You must sense bidirectional current and use an accelerator and brake control to regulate the current with PWM.
There must also be a sensor to control speed and acceleration , the latter which affects current directly depending on inertia and backlash in drive train. So a dead time is critical between accelerate and brake since if both are only for even a millisecond will cause a short life span to bridge shorting out the battery.

if you don't want this complexity, then you must invent some algorithm for soft start and stop.

Is there any way of knowing what amount of energy i will get? I mean voltage and current

I think the general equation for an electric motor is :- Vapplied = Zloss X I + Vback emf. So if the rotor is spinning off load Vback emf is very close to V applied( 95%), because the running current is low. As the rotor is loaded it either slows down or its phase slips so Vback emf is not in phase with Vapplied, and the difference is Zloss times the increased running current. So I would think that something like 90%+ Vrunning should be available. As the braking in vehicle is normally about 5 times faster then its acceleration, you have to boost the generated voltage to charge the battery at about 5 times the acceleration current. This is also required as the vehicles speed falls.
Frank

1. You need to first sense that you are going down and down and you do not need power...
2. You disengage the battery for a short time. Your motor is now acting like a generator without load.
3. This voltage need to be converted to a level sufficient for charging the battery. Simple electronics can do that.
4. Connect the battery which is now acting as a load to the generator.
5. The accel and the brake too must be sensed so that most of the power is returned to the battery.
6. The inverter is the key.

I don't understand part of the discussion. It sounds to me like making simple things complicated.

A synchronous switching full bridge is bidirectional by nature. To change from driving to braking and vice versa, you need to do nothing except for possibly slightly varying the duty cycle to compensate for the motor inner resistance. Also inverters for AC motors are basically bidirectional, their control is bit more involved because it must vary voltage and frequency of the motor voltage simultaneously and must be aware of the breakdown torque. But an AC inverter also involves a continuous transition between motor and generator mode.

Regenerative braking has to observe the motor and inverter current rating. In so far it can hardly operate at five times the regular current.