Abstract
In this paper, after investigating the coupling effect in a permanent magnet synchronous in-wheel motor, a robust control method for active suspension of hub-driven electric vehicles (EVs) to enhance the performance of the in-wheel motor and the vehicle is proposed. Based on the electric vehicle model addressing the coupling effect between the electromagnetic excitation of the permanent magnet synchronous motor (PMSM) and the transient dynamics in EVs, the influence of the coupling effect on the motor and the vehicle performance is analyzed. The results reflect that the coupling effect in in-wheel motors intensifies the magnetic force oscillation, aggravates the eccentricity of the rotor, deteriorates the motor operation performance, and worsens the ride comfort. To suppress the magnetic force oscillation in motor and enhance the vehicle comfort, the active suspension system considering five aspects of suspension performance is introduced. Simultaneously, on the basis of Lyapunov stability theory, a reliable robust Hꝏ controller considering model uncertainties, actuator failure and electromagnetic force interference is designed. The simulation results reflect that the robust Hꝏ feedback controller can not only achieve better ride comfort, but also restrain the coupling effect in the motor. Meanwhile the other requirements such as the road holding capability, the actuator limitation, and the suspension deflection are also maintained. The proposed robust control method demonstrates a potential application in the practice of EV control.
Highlights
Due to the aggravation of environmental pollution and the energy crisis, automotive products are required to be energy-saving, highly efficient, and environmentally-friendly [1,2,3]
The results showed that the control effects of the active suspension system deteriorated without considering the actuator failure
This paper focuses on the coupling effect in permanent magnet synchronous in-wheel motor (IWM) and the robust control for active suspension of hub-driven electric vehicles (EVs)
Summary
Due to the aggravation of environmental pollution and the energy crisis, automotive products are required to be energy-saving, highly efficient, and environmentally-friendly [1,2,3]. Compared with traditional diesel locomotives, electric vehicles (EVs) which have several advantages such as no CO2 emission and energy efficiency have caught widespread attention in recent years [4,5]. The propulsion configurations of EVs can be classified as a distributed motor driven layout and a centralized driven layout. Compared with centralized driven layout EVs, in-wheel motor (IWM) propelling EVs, as the distributed propulsion system, enjoy various additional structure and control merits [6,7].
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