Hybrid Model Predictive Control of Semiactive Suspension in Electric Vehicle with Hub-Motor

In hub-motor electric vehicles (HM-EVs), the unbalanced electromagnetic force generated by HM will further deteriorate dynamic performance of vehicle. this paper, a semiactive suspension control method is proposed for HM-EVs. A quarter HM-EV model with an electromechanical coupling effect established.The consists three parts: motor model, road excitation and vehicle model. hybrid predictive controller (HMPC) designed based on developed taking into account nonlinear constraints damping force. The focus improving vertical HM-EV. Then, Kalman filter to provide required state variables controller. algorithm constrained optimal (COC) are simulation compared under random bump excitation, results show that can improve ride comfort, reduce vibration, handling stability more substantially.