Model-based Filter Design for Triple Skyhook Control of In-Wheel Motor Vehicles for Ride Comfort

Abstract

Vibration suppression control in vehicles is important for ride comfort. In vehicle electrification, the use of an in-wheel motor as an actuator for vibration suppression has attracted attention as an alternative to active suspension systems. However, a model-free conventional controller design method cannot sufficiently suppress vibration at the most significant frequencies (4 Hz to 8 Hz) because of mechanical resonance. In this study, we analyze the frequency response of an experimental vehicle. Using the identified frequency response of the vehicle, we design a pre-compensation filter based on the desired vibration suppression performance characteristics. The vibration suppression performance improved with the experimental vehicle at target frequencies from 4 Hz to 8 Hz.