Model-based longitudinal vibration suppression control for electric vehicles with geared in-wheel motors

摘要

In vehicle motion control, it is important to improve both dynamic performance and ride comfort by vibration suppression. Vehicles with combustion engines or on-board motors can only suppress resonant modes in the low frequency band such as the heave, pitch, and roll modes due to the limitation in torque responsiveness. However, in the case of vehicles with in-wheel motors, it is possible to suppress vibration in the higher frequency range. In order to improve motion performance and ride comfort, we propose a two degrees of freedom control using an experimentally identified plant model of a geared in-wheel motor vehicle. Application of the proposed method improves the vehicle body longitudinal response characteristics while suppressing the vibration. In order to further improve the performance, a state observer that takes the delay of CAN communication into consideration is applied while securing stability margin. The effectiveness of the proposed method is evaluated by simulations and experiments.