scholarly journals Robust Control for Active Suspension of Hub-Driven Electric Vehicles Subject to in-Wheel Motor Magnetic Force Oscillation

2020 ◽  
Vol 10 (11) ◽  
pp. 3929 ◽  
Author(s):  
Hang Wu ◽  
Ling Zheng ◽  
Yinong Li ◽  
Zhida Zhang ◽  
Yinghong Yu
Keyword(s):  
Robust Control ◽  
Permanent Magnet ◽  
Electric Vehicles ◽  
Magnetic Force ◽  
Ride Comfort ◽  
Control Method ◽  
Coupling Effect ◽  
Active Suspension ◽  
Electromagnetic Excitation ◽  
Force Oscillation

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.

Active Suspension of Output Feedback Robust Control Based on LMI Approach

Volume 1 ◽  
2004 ◽  
Author(s):  
Zhiqiang Gu ◽  
S. Olutunde Oyadiji
Keyword(s):  
Robust Control ◽  
Ride Comfort ◽  
Control Method ◽  
Active Suspension ◽  
Ride Quality ◽  
Control Methods ◽  
The Past ◽  
Suspension Control ◽  
Load Carrying ◽  
Automotive Suspension

Traditionally automotive suspension designs have been a compromise between the three conflicting criteria of road holding, load-carrying and passenger comfort. Active and semiactive suspension control methods have been considered as ways of increasing the freedom one has to specify independently the characteristics of load carrying, handling and ride quality. Consequently, these control methods have been enthusiastically investigated in the past decades. In this paper, active suspension control based on LMIs, including H∞ control and mixed H2/H∞ synthesis has been developed in this paper. The simulation results demonstrate that robust control method can suppress disturbance from road inputs, thus improving the ride comfort and maintaining the good road handling. The mixed H2/H∞ synthesis can provide both the robustness of H∞ control and the better performance of H2 (LQR) method.

scholarly journals Robust control for Macpherson active suspension using saturated RISE controller

2017 ◽  
Vol 20 (K5) ◽  
pp. 44-50
Author(s):  
Huyen Thi Thanh Dinh
Keyword(s):  
Robust Control ◽  
Ride Comfort ◽  
Control Method ◽  
A Priori ◽  
Active Suspension ◽  
Vertical Displacement ◽  
Control Force ◽  
Active Suspensions ◽  
Exogenous Disturbances ◽  
Control Methodology

This paper introduces a robust control method for car’s Macpherson active suspensions included uncertainties and exogenous disturbances. Based on saturated RISE control methodology, control force is guaranteed to be limited to a priori limit. Lyapunov stability analysis is exploited to prove control errors including vertical displacement, velocity and acceleration of the sprung mass asymptotically go to zero, so the ride comfort is improved. Simulations are performed to show the effectiveness of the proposed method in both time domain and frequency domain in comparison with the active suspension with PID controller, the semi-active suspension with a modified Skyhook control and the passive suspension.

Model predictive torque control of a six-phase PM synchronous hub motor with auxiliary voltage vectors

2020 ◽  
pp. 1-17
Author(s):  
Hao Xu ◽  
Long Chen ◽  
Xiaodong Sun
Keyword(s):  
Permanent Magnet ◽  
Electric Vehicles ◽  
Control Method ◽  
Research Direction ◽  
Synchronous Motor ◽  
Torque Control ◽  
Experimental Results ◽  
Vector Model ◽  
Dynamic State ◽  
Three Phase

Permanent magnet synchronous hub motors (PMSHMs) have been gradually introduced into the applications of electric vehicles. In order to output more torque, many researchers turned their research direction to six-phase motors. Because it is composed of two sets of three-phase windings, there will be interference between the windings, affecting the performance of the motor. In order to improve the steady and dynamic-state performance of permanent magnet six phase synchronous motor, a predictive torque control method based on multi vector model is proposed in this paper. Finally, experimental results show the effectiveness of this method.

Automobile active tilt based on active suspension with H∞ robust control

2020 ◽  
pp. 095440702096620
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Yanan Bai
Keyword(s):  
Robust Control ◽  
Degrees Of Freedom ◽  
Load Transfer ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Active Suspension ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Roll Moment ◽  
Roll Control

Automobile roll control aims to reduce or achieve a zero roll angle. However, the ability of this roll control to improve the handling stability of vehicles when turning is limited. This study proposes a direct tilt control methodology for automobiles based on active suspension. This tilt control leans the vehicle’s body toward the turning direction and therefore allows the roll moment generated by gravity to reduce or even offset the roll moment generated by the centrifugal force. This phenomenon will greatly improve the roll stability of the vehicle, as well as the ride comfort. A six-degrees-of-freedom vehicle dynamics model is established, and the desired tilt angle is determined through dynamic analysis. In addition, an H∞ robust controller that coordinates different performance demands to achieve the control objectives is designed. The occupant’s perceived lateral acceleration and the lateral load transfer ratio are used to evaluate and explain the main advantages of the proposed active tilt control. To account the difference between the proposed and traditional roll controls, a simulation analysis is performed to compare the proposed tilt H∞ robust control, a traditional H∞ robust control for zero roll angle, and a passive suspension system. The analysis of the time and frequency domains shows that the proposed controller greatly improves the handling stability and anti-rollover ability of vehicles during steering and maintains acceptable ride comfort.

scholarly journals A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Yaxiong Wang ◽  
Feng Kang ◽  
Taipeng Wang ◽  
Hongbin Ren
Keyword(s):  
Robust Control ◽  
Electric Vehicles ◽  
Control Algorithm ◽  
Control Method ◽  
Stability Control ◽  
Lateral Stability ◽  
Level Control ◽  
Sideslip Angle ◽  
Safety Control ◽  
Yaw Moment

In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of mass center, the virtual lateral tire force sensors are designed based on the unscented Kalman filtering (UKF). And the sideslip angle is estimated by using the dynamics-based approaches. Moreover, based on the estimated vehicle state information, an upper level control system by using robust control theory is proposed to specify a desired yaw moment and correction front steering angle to work on the electric vehicles. The robustness of proposed algorithm is also analyzed. The wheel torques are distributed optimally by the wheel torque distribution control algorithm. Numerical simulation is carried out in Matlab/Simulink-Carsim cosimulation environment to demonstrate the effectiveness of the designed robust control algorithm for lateral stability control of in-wheel motored vehicle.

Mixed H2/H∞ with Pole-Placement Control Design Outline for Active Suspension Systems

2014 ◽  
Vol 663 ◽  
pp. 152-157
Author(s):  
Aghil Shavalipour ◽  
Sallehuddin Mohamed Haris
Keyword(s):  
State Space ◽  
Ride Comfort ◽  
Control Method ◽  
Space Vehicle ◽  
Active Suspension ◽  
Optimization Techniques ◽  
Pole Placement ◽  
Vehicle Body ◽  
Linear Matrix ◽  
Road Disturbance

This paper consider the control of active automotive suspensions applying Mixed (H2/H∞) state-space optimization techniques. It is well known that the ride comfort is improved by reducing vehicle body acceleration generated by road disturbance. In order to study this phenomenon, Two Degrees of Freedom (DOF) in state space vehicle model was built in. However, the H∞ control method attenuates the agitation effect on the output while H2 is employed to improve the input of the controller. Linear Matrix Inequality (LMI) technique is employed to calculate the dynamic controller parameters. The outcome of the simulation revealed that ride comfort for the vehicle upgraded adequately by applying mixed H2/H∞ Control method for active suspension system, and also the mixed H2/H∞ Control method was more effective than the H∞ Control method.

Vehicle Active Suspension with Four-Degrees of Freedom of Optimizing the Value of K Based on Genetic Algorithm

2011 ◽  
Vol 308-310 ◽  
pp. 1673-1678
Author(s):  
Yan Yan Zuo ◽  
Cai Bao Yan ◽  
Nan Yang
Keyword(s):  
Genetic Algorithm ◽  
Optimal Control ◽  
Optimal Control Theory ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Control Method ◽  
Active Suspension ◽  
Obvious Effect ◽  
Comprehensive Performance ◽  
Suspension Model

A vehicle active suspension model with 1 / 2 ，four-degrees of freedom is established and by combining genetic algorithm with optimal control theory，the author presents a new control method of active suspension that is to optimize the value of K controlled by LQG in default of road input based on genetic algorithm and makes a simulation in the environment of Matlab / Simulink. By simulation and analysis，the result indicates that，this method has an obvious effect on improving comprehensive performance of vehicles，such as ride comfort and operate stability and so on.

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