Study of Longitudinal–Vertical Dynamics for In-Wheel Motor-Driven Electric Vehicles

The in-wheel motor (IWM)-driven electric vehicles (EVs) attract increasing attention due to their advantages in dimensions and controllability. The majority of the current studies on IWM are carried out with the assumption of an ideal actuator, in which the coupling effects between the non-ideal IWM and vehicle are ignored. This paper uses the braking process as an example to investigate the longitudinal–vertical dynamics of IWM-driven EVs while considering the mechanical–electrical coupling effect. First, a nonlinear switched reluctance motor model is developed, and the unbalanced electric magnetic force (UEMF) induced by static and dynamic mixed eccentricity is analyzed. Then, the UEMF is decomposed into longitudinal and vertical directions and included in the longitudinal–vertical vehicle dynamics. The coupling dynamics are demonstrated under different vehicle braking scenarios; numerical simulations are carried out for various road grades, road friction, and vehicle velocities. A novel dynamics vibration absorbing system is adopted to improve the vehicle dynamics. Finally, the simulation results show that vehicle vertical dynamic performance is enhanced.