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In this paper, after investigating the coupling effect in a permanent magnet synchronous in-wheel motor, a robust control method for active suspension of hub-driven electric vehicles (EVs) to enhance the performance of the in-wheel motor and the vehicle is proposed. Based on the electric vehicle model addressing the coupling effect between the electromagnetic excitation of the permanent magnet synchronous motor (PMSM) and the transient dynamics in EVs, the influence of the coupling effect on the motor and the vehicle performance is analyzed. The results reflect that the coupling effect in in-wheel motors intensifies the magnetic force oscillation, aggravates the eccentricity of the rotor, deteriorates the motor operation performance, and worsens the ride comfort. To suppress the magnetic force oscillation in motor and enhance the vehicle comfort, the active suspension system considering five aspects of suspension performance is introduced. Simultaneously, on the basis of Lyapunov stability theory, a reliable robust H controller considering model uncertainties, actuator failure and electromagnetic force interference is designed. The simulation results reflect that the robust H feedback controller can not only achieve better ride comfort, but also restrain the coupling effect in the motor. Meanwhile the other requirements such as the road holding capability, the actuator limitation, and the suspension deflection are also maintained. The proposed robust control method demonstrates a potential application in the practice of EV control.

Robust Control for Active Suspension of Hub-Driven Electric Vehicles Subject to in-Wheel Motor Magnetic Force Oscillation