2018-01-1401 Published 0 3 Apr 2018 © 2018 SAE International. All Rights Reserved.Active Suspension Control of Electric Vehicle Driven by Switched Reluctance Motor Based on Vibration Absorbing Structure Xinxin Shao, Fazel Naghdy, and Haiping Du University of Wollongong Citation: Shao, X., Naghdy, F., and Du, H., “Active Suspension Control of Electric Vehicle Driven by Switched Reluctance Motor Based on Vibration Absorbing Structure,” SAE Technical Paper 2018-01-1401, 2018, doi:10.4271/2018-01-1401. Abstract Active suspension control for in-wheel switched reluc - tance motor (SRM) driven electric vehicle with dynamic vibration absorber (DVA) based on robust H∞ control method is presented. The mounting of the electric drives on the wheels, known as in-wheel motor (IWM), results in an increase in the unsprung mass of the vehicle and a significant drop in the suspension ride performance and road holding stability. Structures with suspended shaftless direct drive motors have the potential to improve the road holding capability and ride performance. The quarter car active suspension model equipped with in-wheel SRM is established, in which the SRM stator serves as a dynamic vibration absorber. The in-wheel SRM is modelled using an analytical Fourier fitting method. The SRM airgap eccentricity is influenced by the road excitation and becomes time-varying such that a residual unbalanced radial force is induced. This is one of the major causes of SRM vibra - tion. Current chopping control (CCC) and pulse width modula - tion control (PWM) are adapted to suppress motor vibration. Moreover, a robust H ∞ controller is developed for the active suspension with DVA to further enhance vehicle ride perfor - mance. A comparison of passive suspension with conventional SRM, passive suspension with DVA, active suspension with DVA on vehicle suspension and SRM dynamic responses are presented. Simulation results under bump road excitation and random road excitation demonstrate the effectiveness of DVA structure active suspension system with proposed control method in enhancing suspension and motor performance. Introduction Electric vehicles (EVs) have many remarkable advan - tages such as energy efficiency and environment friendliness when compared to the conventional vehicles. They can also produce sufficient driving performance and efficiency using advanced electric motor and battery tech - nologies. Propulsion configuration of electric vehicles can be classified as centralized motor driven and in-wheel motor (IWM) driven layout. The IWM driven layout has various advantages such as high motor response, precise torque gener - ation, simplicity and efficiency, attracting an increasing research interest in recent years. Furthermore, IWMs also have the capability of enhancing the performance of traction control systems (TCS), anti-lock brake systems (ABS), and electronic stability control systems (ESC) [1 ]. A variety of motors, such as induction motors, permanent magnet synchronous motors and switched reluctance motors (SRM) can be deployed in electric vehicles. The SRM have inherent advantages, such as simple and rugged construction, ability of extremely high-speed operation, and hazard-free operation, making them a preferred option for deployment in electric and hybrid electric vehicles [ 2]. However, the airgap eccentricity present in the IWM can result in a residual unbal - anced radial force, which can adversely influence the motor vibration, passenger comfort and vehicle rollover stability. Wei Sun et al. [ 3] analysed the impact of in-wheel SRM on vehicle dynamic and proposed several control methods to reduce the residual force and vehicle starting shock caused by SRM. Yanyang Wang et al. [ 4] analysed the effect of unbal - anced vertical forces of in-wheel SRM on the ride comfort, and lateral and anti-rollover stabilities of the electric vehicle. The coupling effect between road excitation, airgap eccen - tricity and unbalanced verti