Journal of Jilin University(Engineering and Technology Edition) ›› 2023, Vol. 53 ›› Issue (1): 41-49.doi: 10.13229/j.cnki.jdxbgxb20210528

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Constrained state feedback H∞ control for active suspension of in⁃wheel motor electric vehicle

Jie LI(),Chang-wang JIA,Lin-hai CHENG,Qi ZHAO   

  1. State Key Laboratory of Automotive Simulation and Control，Jilin University，Changchun 130022，China
  • Received:2022-05-28 Online:2023-01-01 Published:2023-07-23

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Abstract:

To control the influence of in-wheel motor eccentricity and other unforeseen factors on the ride comfort of electric vehicles， the problem of improving ride comfort of in-wheel motor electric vehicle by H∞ control of active suspension constraint state is studied on random road. Based on the standard state feedback H∞ control， the linear matrix inequality representation of constrained state feedback H∞ control is established. Considering the interaction of road and motor eccentricity， a four degree of freedom plane model of in-wheel motor electric vehicle with active suspension is built， and the constrained state feedback H∞ control design of in-wheel motor electric vehicle active suspension is realized. The H∞ control simulation model of active suspension of in-wheel motor electric vehicle with constraint state feedback is developed by using Matlab/Simulink. The ride comfort simulation and comparison of active suspension and passive suspension are completed through the model on random road. The results show that the eccentricity of in-wheel motor will affect the improvement ability of the active suspension， and the constraint state feedback H∞ control of the active suspension improves ride comfort of in-wheel motor electric vehicle on random road.

Key words: vehicle engineering, electric vehicle, in-wheel motor, active suspension, constrained state feedback, H∞ control

CLC Number: 

  • U469.72

Fig.1

Four degree of freedom plane model of in-wheel motor electric vehicle"

Table 1

Model parameter"

符号参数符号参数
ms车身质量IsL车身俯仰转动惯量
muf前轴非簧载质量mur后轴非簧载质量
csf前轴悬架阻尼csr后轴悬架阻尼
ksf前轴悬架刚度ksr后轴悬架刚度
ktf前轴轮胎刚度ktr后轴轮胎刚度
Lf前轴至车身质心距离Lr后轴至车身质心距离
Fvf前轴电机偏心激励力Fvr后轴电机偏心激励力
Faf前轴悬架控制力Far后轴悬架控制力
zs车身位移?s车身俯仰角位移
zsf前悬架车身点位移zsr后悬架车身点位移
zuf前轴非簧载质量位移zur后轴非簧载质量位移
qf前轮路面激励qr后轮路面激励

Fig.2

Simulation model of H∞ control with constrained state feedback for active suspension of hub motor electric vehicle"

Fig.3

Vibration response of two suspension systems with eccentric front and rear motors"

Fig.3

Performance index of grade B road under four conditions"

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