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Vehicles driven by in-wheel motors have received more and more attention. However, due to the introduction of in-wheel motors, the ratio between unsprung and sprung mass is increased. In this article, to study the influence of this change on ride comfort of vehicles driven by in-wheel motors, an 11 degrees of freedom of vehicle ride comfort model w...
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This paper presents a model aiming at describing the influence of an additional mass on an urban vehicle. The impact of an in-wheel motor on the road holding performances and vehicle comfortableness, for which criteria have been defined, has been studied on a swingarm and compared to a standard configuration (vertical suspension). Simulations have...
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This paper presents a model aiming at describing the influence of an additional mass on an urban vehicle. The impact of an in-wheel motor on the road holding performances and vehicle comfortableness, for which criteria have been defined, has been studied on a swingarm and compared to a standard configuration (vertical suspension). Simulations have...
Citations
... The introduction of wheel motors will change the proportion of unsprung mass, affecting the ride comfort of vehicles. Jin [15] proposed a proportional-integral-derivative control system for semi-active air suspension. It proved that the control strategy could improve the ride comfort of vehicles driven by wheel hub motors through simulation and real vehicle tests. ...
With the development of the brake-by-wire system, more and more advanced driver assistance systems have been applied to automobiles. The brake-by-wire system can collect the driver’s braking intention through the displacement sensor and thus realize accurate braking by the motor. Based on the brake-by-wire system, we design an algorithm that can realize the vehicle Comfort Stop Technology (CST) in this paper. The CST can control the drop and rise of brake fluid pressure during the braking stop of the vehicle, and therefore reduce the sharp feeling of front and back pitching during the braking stop. Finally, through real car verification, the functional algorithm designed in this paper can improve the nodding feeling of the vehicle by reducing the deceleration of the vehicle during braking.
... A suspension system is a part of a vehicle structure located between the vehicle body and tire. The main work of suspension is to ensure the tire is always in contact with the road profile which led to providing a good handling [1][2][3]. Over the years, the suspension system has always attracted the interest of scholars in improving numerous criteria for the benefits of the passengers and the drivers. ...
Control systems based on fuzzy logic (FL) and proportional–integral–derivative (PID) are among the effective controllers which operate using an inference mechanism rule base and control loop mechanism that continuously calculates an error value. Because of that both of them are being used as a practical solution for major vibration problems in many applications recently. However, in automotive suspension applications, the number of study on reducing the amplitude vibration of vehicle ride comfort using these controllers, especially in the experimental study, is still limited. Thus, this study aims to improve the performance of the said controllers by integrating with a modified version of the algorithm known as the advanced firefly algorithm (AFA) in the suspension system application. An experimental quarter vehicle test rig complete with a magnetorheological (MR) damper is used in this study to test and compare the effectiveness of the proposed FL-AFA and PID-AFA controllers against the passive controller system. An external disturbance in the form of sinusoidal waves is applied to the system to verify the sensitivity and durability of the proposed control schemes, and consequently, a comparative study is performed to analyze the system characteristics. Two major issues known as the disturbance rejection and damping constraint are investigated and overcome by proposing a good controller scheme with intelligent optimizers. The experiment result indicates that the PID-AFA shows a good response compared to the FL-AFA and the passive system, with the ability to reduce the vibration amplitude by up to 57.1%.
... The first category includes designing the IWM as a dynamic vibration absorbing structure (DVAS), where the IWM is isolated from the axle by spring and damper elements [11]. The DVAS absorbs the vibration energy transmitted to the IWM by damper element [12]. Further, DVAS is generally divided into "chassis DVAS" and "tire DVAS", which flexibly connects the IWM to the sprung and unsprung masses, respectively [11]. ...
This study aims to improve the vehicle vertical dynamics performance in the sprung and unsprung state for in-wheel-motor-driven electric vehicles (IWMD EVs) while considering the unbalanced electric magnetic force effects. An integrated vibration elimination system (IVES) is developed, containing a dynamic vibration-absorbing structure between the IWM and the suspension. It also includes an active suspension system based on a delay-dependent H∞ controller. Further, a novel frequency-compatible tire (FCT) model is constructed to improve IVES accuracy. The mechanical-electrical-magnetic coupling effects of IWMD EVs are theoretically analyzed. A virtual prototype for the IVES is created by combining the CATIA, ADAMS, and MatLab/Simulink, resulting in a high-fidelity multi-body model, validating the IVES accuracy and practicability. Simulations for the IVES considered three different suspension structure types and time delay considerations were performed. Analyses in frequency and time domains for the simulation results have shown that the root mean square of sprung mass acceleration and the eccentricity are significantly reduced via the IVES, indicating an improvement in ride comfort and IWM vibration suppression.
... On the downside, in-wheel powertrains significantly increase the ratio between unsprung mass and sprung mass [11], which is detrimental to ride comfort, usually evaluated through acceleration-based performance indicators, and road holding, associated with the dynamic variation of the vertical tire-road contact force [12]- [14]. Extensive literature deals with the attenuation of the effect of road irregularities through active and semiactive suspension controllers [15], and a few studies present dedicated software and hardware solutions to address the unsprung mass increment associated with in-wheel powertrains. ...
Road irregularities induce vertical and longitudinal vibrations of the sprung and unsprung masses, which affect vehicle comfort. While the vertical dynamics and related compensation techniques are extensively covered by the suspension control literature, the longitudinal dynamics on uneven road surfaces are less frequently addressed, and are significantly influenced by the tires and suspension systems. The relatively slow response of internal combustion engines does not allow any form of active compensation of the effect of road irregularities. However, in-wheel electric powertrains, in conjunction with pre-emptive control based on the information on the road profile ahead, have some potential for effective compensation, which, however, has not been explored yet. This paper presents a proof-of-concept nonlinear model predictive control (NMPC) implementation based on road preview, which is preliminarily assessed with a simulation model of an all-wheel drive electric vehicle with in-wheel motors, including a realistic tire model for ride comfort simulation. The major improvement brought by the proposed road preview controller is evaluated through objective performance indicators along multiple maneuvers, and is confirmed by the comparison with two benchmarking feedback controllers from the literature.
... To improve the wheel-hubdriven vehicle ride comfort, reference [12] proposed a semi-active air-suspension proportional-integral-derivative control system, and reference [13] proposed an active suspension control method based on the FxLMS (Filtered-x Least Mean Squared) algorithm to suppress the vehicle's vertical vibration responses excited by SRM excitation. Reference [14] proposed a fault-tolerant fuzzy H∞ control design approach for active suspension of in-wheel motor driven electric vehicles, and reference [15] proposed a method to improve ride comfort through driving force control. ...
In order to solve the adverse effect on wheel-hubdriven electric vehicle ride comfort caused by the introduction of hub motor, a three-step screening method is proposed to match and optimize the hard point parameters of vehicle suspension. First, a multibody dynamic model of the prototype vehicle suspension was established based on a multibody dynamic method, and the analytical formulas of the electromagnetic force of the motor were given. Based on the specific conditions of the vehicle and the motor, a dynamics analysis of the suspension was carried out to investigate the effect of the fluctuation of the electromagnetic force of the hub motor on the wheel alignment parameters. Second, the calculation model of the suspension dynamics response was established according to the experiment designed by the Latin hypercube sampling method, and a sensitivity analysis of the suspension hard point coordinate was carried out to obtain the sensitive hard point parameters. Finally, the linear weighted synthetic optimization model of the front wheel alignment parameters of the wheel-hubdriven electric vehicle was elaborated using a multi-objective optimization method, and the multi-objective function was converted into a single objective evaluation function to carry out better suspension hard point parameter optimization. The results show that by optimizing the suspension hard point parameter, the wheel alignment parameters can be controlled within a reasonable range. This optimization ensures that the variation rate of the front wheel alignment parameters of the wheel-hubdriven electric vehicle meets the vehicle design requirements, thus eliminating the adverse impact on vehicle ride comfort caused by the introduction of the hub motor. This paper also illustrates that the three-step screening method is an efficient method of parameter matching, which can satisfactorily solve the problem of engineering applications. The three-step screening method can teach assistant engineer how to use this method to conveniently carry out the design of vehicle suspension, simplify the cumbersome design process, save time, and improve work efficiency and design quality.
... The parameters of the in-wheel spring and rubber bushing of in-wheel-motor electric vehicle (IWM EV) were optimized through an improved particle swarm optimization (IPSO) algorithm and then in-wheel damper was controlled via a fuzzy proportional-integral-derivative (PID) method to enhance ride comfort of electric vehicle [3]. A semi-active air-suspension proportional-integral-derivative control system was proposed and analyzed for improving the vehicle ride comfort using a vehicle ride comfort model with 11 degrees of freedom [4]. In-wheel motor-(IWM-) suspensions coupling system of an electric vehicle were optimized through an artificial fish swarm algorithm (AFSA) to enhance ride comfort of electric vehicle [5]. ...
... For EVs, this represented a significant comfort reduction affecting the driver's seat. Furthermore, Jin et al. [5], developed an 11-degree-of-freedom model to study the comfort of in-wheel motor vehicles while running on an ISO B class road. The work used a controlled semi-active air suspension to enhance comfort. ...
Rubber bushings and mounts are vastly used in automotive applications as support and interface elements. In suspension systems, they are commonly employed to interconnect the damping structure to the chassis. Therein, the viscoelastic nature of the material introduces a desirable filtering effect to reduce mechanical vibrations. When designing a suspension system, available literature often deals with viscoelastic mounts by introducing a linear or nonlinear stiffness behavior. In this context, the present paper aims at representing the rubber material using a proper viscoelastic model with the selection of different in-wheels motors. Thus, the mount dynamic behavior’s influence in a suspension is studied and discussed thoroughly through numerical simulations and sensitivity analyses. Furthermore, guidelines are proposed to orient the designer when selecting these elements.
... However, the change of the dynamic parameters of the vehicles from the TV model to the EV model greatly affects the stability, ride comfort, and noise problem of the vehicles. Therefore, Jin L., et al. evaluate the effect of the mass ratio between sprung and unsprung on the vehicle's ride comfort driven by in-wheel motors (IWM) [5], Wang P., simulated and evaluated the effect of electric battery mass distribution on the EV movement safety [6]. To improve the electric vehicle ride comfort, the optimal control methods had been applied on the EV to control the suspension systems of the vehicle and IWM. ...
In order to evaluate the influence of the dynamics parameters of the electric vehicles on the ride comfort, an electric vehicle dynamic model is established to simulate under various operation conditions of the electric vehicles. The electric vehicle dynamic equations and parameters are then solved based on the Simulink model built on Matlab software. The acceleration responses at centre of gravity of the vertical and pitching electric vehicle vibrations are two objective functions. The research results show that the ride comfort of the electric vehicles is greatly influenced by their dynamics parameters and strongly reduced in comparison with the traditional vehicles. Therefore, the electric vehicles equipped with the in-wheel motors should be optimized or controlled to improve the ride comfort.
... The comfort that people feel can be classified as a subjective assessment, as it is possible to detect significant variations in the responses of different people to the same situation [25]. Mathematical models and computer simulations are used to obtain results, which can subsequently be compared with results obtained in road experiments [26][27][28][29]. Various vibration measuring test bench are also used in the laboratory [30] and simulators of driving conditions [31]. ...
Passengers and the driver in vehicles are subjected to vibrations, noise, acceleration, etc., which affect the comfort, activity and health of people. The effect of vibrations on the human body depends on their frequency, amplitude, duration and direction of impact.
Prolonged exposure to vibration causes fatigue in the driver and passengers, which reduces their performance and worsens their functional condition. This can affect traffic safety, so one of the main requirements for modern vehicles is to increase ride comfort. The ride comfort is a set of conditions, impacts and sensations of the driver and passengers when traveling in vehicles. Over the years, there have been many studies and scientific developments aimed at measuring, evaluating and analysing the various factors that affect ride comfort. This paper presents a review on the research studies that have been done on dynamic factors that affect the ride comfort in road vehicles and methods used for measurement and its evaluation were discussed. Finally, some existing suggestions for improving the ride comfort in road vehicle are presented.
... The influence of the change on ride comfort of vehicles driven by in-wheel motors, an 11-degree of freedom of vehicle ride comfort model will be presented and studied with Matlab/Simulink. 8,9 Then, road tests will be conducted to corroborate the simulation results. It can be obtained that the vehicle ride comfort becomes poor with the increasing unsprung mass. ...
Vehicle vibration transmission associated with the dynamic system depends on the frequency and direction of the input motion and the characteristics of vehicle suspension system and the seat from which the vibration exposure is received. A fabricated one-passenger electric vehicle equipped by a coil spring (mechanical) suspension system is introduced in this study. An air suspension system is used to replace the coil spring suspension system to improve ride comfort performance and intelligent classical adaptive neuro-fuzzy inference system controller is used to control the vehicle seat performance parameters. Accelerometers are mounted on the seat pan and seat base (floor) when measuring vertical acceleration. Data is frequently weighted according to standard BS 6841 in order to model the human response to vibration in terms of location and direction. The Simulink model is developed in Matlab software with the adaptive neuro-fuzzy inference system controller for the vehicle seat weighted vibration acceleration control. The results indicate that the predicted vibration acceleration can track the target vibration acceleration very well. Moreover, the values of the crest factor and kurtosis for the vehicle equipped by air suspension system are lower than those for the vehicle equipped by mechanical suspension system. Furthermore, the seat effective amplitude transmissibility for the fabricated vehicle with air suspension behaves lower value than that for mechanical suspension.
