The in-wheel motor (IWM) driving system has potential applications in electric vehicles (EV) due to its high integration and controllability. However, the IWM electromagnetic excitation, which acts on the wheels, can produce negative vibration and noise issues. This paper investigates the influence of electromagnetic excitation and suppression methods. An integrated model considering the electromagnetic excitation, including the suspension system, the driving system, and the IWM system, is established and developed. A motor speed control system, which includes the acceleration and the motor braking conditions, is designed, and the characteristics of the electromagnetic excitation on the integrated model are analyzed. An active suspension model with uncertain parameters is established, and a controller based on the synthesis algorithm is developed to improve the dynamic performance of the electric vehicle. Simulation results show that the synthesis controller can significantly reduce the electromagnetic excitation of the motor by suppressing the air gap eccentricity of the IWM. Simultaneously, the synthesis controller can also improve the vehicle comfort and the road holding of the electric vehicle. For IWM-EV, the proposed modeling method can accurately describe the dynamic characteristics of IWM, and the designed controller can effectively suppress the vibration problem of IWM-EV.
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