Coordination control between vibration suppression and energy regeneration for vehicles driven by in-wheel motors under regenerative braking condition

Abstract

In this paper, focusing on regenerative braking condition, a coordination control method is proposed to achieve the vibration suppression and braking energy recovery of vehicles driven by In-Wheel Switch Reluctance Motor (IWSRM). Firstly, a vehicle vertical dynamic model, including SRM drive system, vehicle braking system, and quarter SRM-suspension system, is established based on the analysis of the generating and vibration characteristics of IWSRM. Then, after analyzing the effects of eccentricity and electromagnetic excitation, the vertical unbalanced radial force is used as control signal in design of the control method. Moreover, for ensuring the recovered energy and reduce vertical vibration, the optimal key control parameters varying with the vehicle speed and braking strength are obtained by genetic algorithm. To achieve verification of the control method, the several vehicle performance indexes are selected as observation objects, which are analyzed and compared to other control methods, and the results indicate the control method can effectively weaken the vertical acceleration and improve the vehicle ride comfort without significantly decreasing regenerative braking energy. Finally, a hardware in the loop experiment is conducted, and the effectiveness and real-time ability of the proposed method can be verified.

Keywords

Electric vehicles in-wheel switched reluctance motor regenerative braking condition vehicle vertical vibration unbalanced radial force

Get full access to this article

View all access options for this article.

References

Wei

Zhao

, et al. Modelling and experimental validation of an EV torque distribution strategy towards active safety and energy efficiency. Energy 2022; 239: 121953.

Yang

Wang

Jiao

. Life cycle assessment of fuel cell, electric and internal combustion engine vehicles under different fuel scenarios and driving mileages in China. Energy 2020; 198: 117365.

Wang

Zhang

Chen

, et al. Frequency-based modeling of a vehicle fitted with roll-plane hydraulically interconnected suspension for ride comfort and experimental validation. IEEE Access 2020; 8: 1091–1104.

Zheng

Ren

, et al. Multi-objective optimization of active suspension system in electric vehicle with in-wheel-motor against the negative electromechanical coupling effects. Mech Syst Signal Process 2019; 116: 545–565.

Shang

Chen

, et al. A new control method based on DTC and MPC to reduce torque ripple in SRM. IEEE Access 2019; 7: 68584–68593.

Zhang

Bahri

Mininger

, et al. Vibration reduction control of switched reluctance machine. IEEE Trans Energy Convers 2019; 34: 1380–1390.

Zeng

Tan

Ding

, et al. An experimental investigation of resonance sources and vibration transmission for a pure electric bus. Proc IMechE, Part D: J Automobile Engineering 2020; 234: 950–962.

Zhi

Duan

Lei

. MPPT for wind power system with switched reluctance generator. In: ICIEA2018 13th IEEE conference on industrial electronics and applications (ICIEA), Wuhan, China, 31 May–2 June 2018, pp.1420–1424. New York: IEEE.

Rezig

Boudendouna

Djerdir

, et al. Investigation of optimal control for vibration and noise reduction in-wheel switched reluctance motor used in electric vehicle. Math Comput Simul 2020; 167: 267–280.

10.

Jin

Wang

Sun

, et al. Design of constrained robust controller for active suspension of in-wheel-drive electric vehicles. Mathematics 2021; 9: 249.

11.

Liu

Rong

, et al. Semi-active suspension control based on deep reinforcement learning. IEEE Access 2020; 8: 9978–9986.

12.

Zhou

Liu

Chen

, et al. Optimal sliding mode control for an active suspension system based on a genetic algorithm. Algorithms 2018; 11: 205.

13.

Yang

Wang

. Suppression of switched reluctance motor vibration of in-wheel motor electric vehicle. J Control Sci Eng 2018; 2018: 1–13.

14.

Zhao

Zhou

. Influence of rotor-bearing coupling vibration on dynamic behavior of electric vehicle driven by in-wheel motor. IEEE Access 2019; 7: 63540–63549.

15.

Mao

Zuo

, et al. High frequency vibration characteristics of electric wheel system under in-wheel motor torque ripple. J Sound Vib 2017; 400: 442–456.

16.

Wang

Ren

. Electric vehicles with in-wheel switched reluctance motors: coupling effects between road excitation and the unbalanced radial force. J Sound Vib 2016; 372: 69–81.

17.

Sun

Huang

, et al. Vibration effect and control of in-wheel switched reluctance motor for electric vehicle. J Sound Vib 2015; 338: 105–120.

18.

Zhu

Zhao

Zhang

, et al. Vibration control for electric vehicles with in-wheel switched reluctance motor drive system. IEEE Access 2020; 8: 7205–7216.

19.

Zheng

Gao

, et al. Electromechanical coupling mechanism and control strategy for in-wheel-motor-driven electric vehicles. IEEE Trans Ind Electron 2019; 66: 4524–4533.

20.

Zheng

. Integrated design of active suspension parameters for solving negative vibration effects of switched reluctance-in-wheel motor electrical vehicles based on multi-objective particle swarm optimization. J Vib Control 2019; 25: 639–654.

21.

Qin

Shao

, et al. Vibration mitigation for in-wheel switched reluctance motor driven electric vehicle with dynamic vibration absorbing structures. J Sound Vib 2018; 419: 249–267.

22.

Xiang

Qin

, et al. Semi-active vibration control for in-wheel switched reluctance motor driven electric vehicle with dynamic vibration absorbing structures: concept and validation. IEEE Access 2018; 6: 60274–60285.

23.

Sun

Lan

Chen

. A study on the braking energy recovery strategy for a 4WD battery electric vehicle based on ideal braking force distribution (curve I). Automot Eng 2013; 35: 1057–1061.

24.

Son

, et al. Development of brake system and regenerative braking cooperative control algorithm for automatic-transmission-based hybrid electric vehicles. IEEE Trans Veh Technol 2015; 64: 431–440.

25.

Zhu

Zhen

. Regenerative braking control under sliding braking condition of electric vehicles with switched reluctance motor drive system. Energy 2021; 230: 120901.

26.

Zhang

Yang

, et al. Longitudinal–vertical comprehensive control for four-wheel drive pure electric vehicle considering energy recovery and ride comfort. Energy 2021; 236: 121417.

27.

Zhu

Yang

Yue

, et al. Design and optimisation of an in-wheel switched reluctance motor for electric vehicles. IET Intell Transp Syst 2019; 13: 175–182.

28.

Wong

Cheng

KWE

. Simulation of switched reluctance motor based on a combination of circuit-oriented and signal-oriented approaches using Matlab/SimPowerSystems. Elect Power Compon Syst 2007; 35: 205–219.

29.

Zhu

Zhang

. Regenerative braking control strategy for electric vehicles based on optimization of switched reluctance generator drive system. IEEE Access 2020; 8: 76671–76682.