Coordination control between vibration suppression and energy regeneration for vehicles driven by in-wheel motors under regenerative braking condition

In this paper, focusing on regenerative braking condition, a coordination control method is proposed to achieve the vibration suppression and braking energy recovery of vehicles driven by In-Wheel Switch Reluctance Motor (IWSRM). Firstly, a vehicle vertical dynamic model, including SRM drive system, vehicle braking system, and quarter SRM-suspension system, is established based on the analysis of the generating and vibration characteristics of IWSRM. Then, after analyzing the effects of eccentricity and electromagnetic excitation, the vertical unbalanced radial force is used as control signal in design of the control method. Moreover, for ensuring the recovered energy and reduce vertical vibration, the optimal key control parameters varying with the vehicle speed and braking strength are obtained by genetic algorithm. To achieve verification of the control method, the several vehicle performance indexes are selected as observation objects, which are analyzed and compared to other control methods, and the results indicate the control method can effectively weaken the vertical acceleration and improve the vehicle ride comfort without significantly decreasing regenerative braking energy. Finally, a hardware in the loop experiment is conducted, and the effectiveness and real-time ability of the proposed method can be verified.