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 (4Hz to 8Hz) 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 4Hz to 8Hz.