Electromechanical Hybrid Control for In-Wheel-Driven Vehicles Considering Electromagnetic Active Suspension Energy Recovery Under Braking Condition

For vehicles propelled by in-wheel switched reluctance motors (IWSRMs), ride comfort and endurance mileage are two crucial performance factors, particularly during braking condition. In this paper, an electromechanical hybrid control strategy is introduced aimed at enhancing both vehicle ride comfort and endurance mileage. Firstly, considering the generating and vibration characteristics of the motor, a vehicular dynamic model integrating IWSRM-electromagnetic active suspension (EAS) system is formulated. Subsequently, the energy recovery potential of the EAS with a linear motor is analyzed, and the vibration response characteristics of the integrated system to unbalanced vertical force and road excitation are discussed. Then, the impact of the proposed linear quadratic regulator control on vehicle vertical dynamics is considered, with optimization of corresponding control parameters. Further, considering the influence of control parameters from IWSRM drive system on vehicle vertical-longitudinal comprehensive dynamics, a coordination control strategy based on fuzzy control and multi-objective optimization is introduced. Finally, a hardware-in-the-loop is carried out, and the results are compared with alternative control strategies, demonstrating the effectiveness and real-time property of the proposed method.