Vertical-Longitudinal Comprehensive Control for Vehicle With In-Wheel Motors Considering Energy Recovery and Vibration Mitigation

The improvement of endurance mileage and ride comfort for electric vehicle are both typical issues. Considering energy recovery and vibration mitigation, a vertical-longitudinal comprehensive control method for the vehicle with in-wheel switched reluctance motors (IWSRMs) is proposed in this paper. Firstly, after analyzing generating and vibration characteristics of IWSRM, a vehicle dynamic system model is established, which includes motor drive system, braking system, and IWSRM-suspension integrated system. Then, a braking force distribution controller is built to improve vehicle endurance mileage. Subsequently, after analyzing vibration transfer characteristics of the IWSRM-suspension integrated system, an optimized linear quadratic regulator controller for active suspension system is built to improve vehicle ride comfort, and the corresponding weight matrices of the controller are optimized by genetic algorithm. Further, based on the proposed fuzzy-PI-PWM control method, a coordination controller is designed to improve vehicle comprehensive performance. Finally, two control methods are selected for comparison, and a hardware-in-the-loop (HIL) is carried out. The simulation and HIL results under several braking conditions show the proposed method can effectively enhance vehicle endurance mileage and braking comfort.