Abstract
In hub-motor electric vehicles (HM-EVs), the unbalanced electromagnetic force generated by the HM will further deteriorate the dynamic performance of the electric vehicle. In this paper, a semiactive suspension control method is proposed for HM-EVs. A quarter HM-EV model with an electromechanical coupling effect is established.The model consists of three parts: a motor model, road excitation model and vehicle model. A hybrid model predictive controller (HMPC) is designed based on the developed model, taking into account the nonlinear constraints of damping force. The focus is on improving the vertical performance of the HM-EV. Then, a Kalman filter is designed to provide the required state variables for the controller. The proposed control algorithm and constrained optimal control (COC) algorithm are simulation compared under random road excitation and bump road excitation, and the results show that the proposed control algorithm can improve ride comfort, reduce motor vibration, and improve handling stability more substantially.
Highlights
Xu et al [20] proposed a hybrid controller based on the hybrid acceleration drive damping algorithm and used the multiobjective optimization method to determine the parameters of the controller, and the simulation was carried out under the random road excitation and bump excitation simulation; the results show that the proposed control method can effectively reduce the vibration of the sprung mass and motor
We proposed a semiactive suspension control method that can consider the nonlinear constraint of damping force to suppress the vibration of the sprung mass and motor in order to address the deterioration of the vertical performance of Hub-motor electric vehicles (HM-EVs)
A state observer was designed based on the Kalman filter algorithm for HM-EV to meet the control needs of the controller
Summary
Due to increased pressure for environmental protection and energy shortages, electric vehicles’ development is being highly valued by many research institutions [1]. The unbalanced electromagnetic force generated by the uneven air gap will be transmitted to the wheels through the reduction mechanism or directly, which is equivalent to adding a certain external load to the wheels, affecting the dynamic characteristics of the suspension [10] To solve these problems, many scholars have suppressed various adverse effects of HMs on vehicles from both structural and control perspectives. H∞ suspension controller and a switched reluctance motor controller, which consists of current chopping control and pulse width modulation control, and simulation results show that the proposed control method can effectively reduce the unbalanced electromagnetic force and air gap eccentricity. A numerical simulation is performed to verify the effectiveness of the proposed method and summarize the conclusions
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