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This paper presents novel algorithms for vibration control of the in-wheel motor (IWM) driven electric vehicles to improve its ride comfort and reduce IWM vibration. A quarter vehicle model is first developed based on a dynamic vibration absorbing structure (DVAS) driven by a switched reluctance motor (SRM). This model considers the coupled longitudinal-vertical dynamics and the unknown road profile as well as the unbalanced electromagnetic force induced by the SRM are treated as the excitation. The dynamics and boundary models of two commercially available semi-active dampers are then presented, which are used as the actuators of both the suspension and the DVAS structure. Based on the developed model, a hybrid controller with a hybrid acceleration driven damping algorithms is proposed to reduce the vibration of the sprung mass and the SRM. The controller parameters are subsequently determined by solving the multi-objective optimization problem with a multi-objective evolutionary optimization method. Numerical simulation results for random road and bumpy excitations are analyzed, and multi-body simulation is finally performed to validate the feasibility of the proposed controllers. Results indicate that the proposed hybrid controllers can effectively improve ride comfort and reduce the SRM vibration compared with the traditional suspension system with IWM.

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Semi-Active Vibration Control for in-Wheel Switched Reluctance Motor Driven Electric Vehicle With Dynamic Vibration Absorbing Structures: Concept and Validation