Research on Optimal Control of Active Suspension for In-wheel- motor-driven Electric Vehicles using Fusion Analytical Solution

YU Yuewei; LI Bo; ZHAO Leilei; ZHANG Fangyuan; WANG Xuecheng

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Research on Optimal Control of Active Suspension for In-wheel- motor-driven Electric Vehicles using Fusion Analytical Solution

更新时间：2025-12-08

- Research on Optimal Control of Active Suspension for In-wheel- motor-driven Electric Vehicles using Fusion Analytical Solution
- JOURNAL OF XI’AN JIAOTONG UNIVERSITY (2025)
- 作者机构：
  
  1.山东理工大学交通与车辆工程学院，255000，山东淄博
  2.山东省新能源车辆集成设计与智能化重点实验室，255000，山东淄博
- 作者简介：
- 基金信息：
- DOI：
  CLC： U461.1
- Received：28 October 2025，
  
  Revised：2025-12-05，
  
  Accepted：08 December 2025，
- 稿件说明：
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YU Yuewei, LI Bo, ZHAO Leilei, et al. Research on Optimal Control of Active Suspension for In-wheel- motor-driven Electric Vehicles using Fusion Analytical Solution[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2025.
DOI：

YU Yuewei, LI Bo, ZHAO Leilei, et al. Research on Optimal Control of Active Suspension for In-wheel- motor-driven Electric Vehicles using Fusion Analytical Solution[J/OL]. JOURNAL OF XI’AN JIAOTONG UNIVERSITY, 2025. DOI：

摘要

针对轮毂电机驱动电动汽车（IWMD-EV）主动悬架最优控制中存在控制性能评价指标实时求解效率低、控制加权系数自适应调整困难的问题，提出了一种基于解析计算的IWMD-EV主动悬架最优控制加权系数设计方法。首先，基于IWMD-EV三自由度主动悬架模型，利用随机振动理论和留数定理积分求解方法，推导得到了基于最优控制的IWMD-EV主动悬架系统的车身垂向振动加速度、悬架动行程、轮胎动位移均方根值解析计算公式；然后，从理论分析角度，将复杂的控制加权系数求解问题转化为同尺度量化系数、性能评价权重系数求解问题，建立了基于解析计算的IWMD-EV主动悬架最优控制加权系数自适应调整方法，实现了控制加权系数随车辆行驶工况的快速动态调整；最后，利用台架试验对所建立方法的可靠性进行了验证。研究结果表明：解析计算与试验测试结果的最大偏差在8%以内，所建立的均方根值解析计算式正确可靠；相较于传统线性二次型高斯（LQG）控制和

∞

控制方法，所提方法能够显著提高不同行驶工况下IWMD-EV的乘坐舒适性。该研究可为基于最优控制的IWMD-EV主动悬架设计提供新的思路。

Abstract

In response to the problems of low efficiency in real-time solution of control performance evaluation indicators and difficulty in adaptive adjustment of the control weighting coefficient for in-wheel-motor-driven electric vehicle (IWMD-EV) optimal control active suspensions

an optimal control weighting coefficient design method of the active suspension systems for IWMD-EVs based on analytical calculation was proposed. Firstly

based on the three degrees of freedom active suspension model of IWMD-EV

using the theory of random vibration and residue theorem integral solution method

the root mean square value analytical formulas of t

he car body vertical acceleration

suspension dynamic stroke

and tire dynamic displacement were derived. Then

from the theoretical analysis perspective

transforming the complex problem of solving control weighting coefficient into a problem of solving the same scale quantization coefficient and performance evaluation weighting coefficient

an adaptive adjustment method of the optimal control weighting coefficient for IWMD-EV active suspension systems based on analytical calculation was established

which achieved rapid dynamic adjustment of the control weighting coefficient with vehicle driving conditions. Finally

the reliability of the established method was verified through bench test. The results show that

the maximum deviation between the analytical calculation results and the experimental test results is within 8%

the established analytical formulas are correct; compared with the traditional linear quadratic Gaussian (LQG) control and

∞

control methods

the proposed method can significantly improve IWMD-EV’s ride comfort under different driving conditions. This study can provide a new idea for the design of IWMD-EV active suspension systems based on optimal control.

关键词

Keywords

references

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