Adaptive sliding mode control of active suspension for hub motor-driven vehicle

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Journal of Vibration and Shock ›› 2025, Vol. 44 ›› Issue (9) : 188-194.

VIBRATION AND MECHANICS SCIENCE

Adaptive sliding mode control of active suspension for hub motor-driven vehicle

KOU Farong*1,2, WANG Jiahuan2, LI Qiangqiang2, HAN Chuhuan2, SONG Yangyang2

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Abstract

In-wheel motors cause negative vibration effects caused by the coupling of motor excitation and vehicle suspension system. To solve this problem, an adaptive sliding mode control strategy for active suspension based on dual sliding surfaces is proposed. The dynamic model of active suspension and the model of permanent magnet synchronous motor are built. The influence of stator rotor eccentricity and vehicle speed on unbalanced electromagnetic force is analyzed. An adaptive sliding mode controller based on the ideal sky and earth shed is developed. The results show that compared with passive suspension and traditional skyhook control, the adaptive sliding mode control suspension system improves the vehicle's ride comfort and motor operation stability. The eccentricity of hub motors has been reduced by 12.4%. Unbalanced electromagnetic forces are reduced. The vertical vibration coupling effect of the motor and the vehicle is effectively suppressed. Body acceleration and suspension dynamic deflection were reduced by 16.1% and 4.2%. The dynamic load of the tire is kept within a reasonable range.

Key words

hub motor / unbalanced electromagnetic force / active suspension / sliding mode control

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KOU Farong1, 2, WANG Jiahuan2, LI Qiangqiang2, HAN Chuhuan2, SONG Yangyang2. Adaptive sliding mode control of active suspension for hub motor-driven vehicle[J]. Journal of Vibration and Shock, 2025, 44(9): 188-194

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