Topology optimization design and fractional order sliding mode control of hub motor-driven vehicle dynamic inertial suspension

To address issues such as the negative effects of vertical vibrations caused by the wheel hub motor and the unbalanced radial forces resulting from motor static eccentricity, a topological optimization design method is proposed for the Hub Motor-Driven Vehicle (HMDV) dynamic inertial suspension based on Fractional Order Sliding Mode Control (FOSMC). Firstly, a static eccentricity model for a four-phase 8/6-pole switched reluctance motor is established, analyzing the unbalanced radial forces generated by motor excitation under varying static eccentricity. Subsequently, the impact of the dynamic inertial suspension’s topological structure on suspension performance is studied under the influence of the wheel hub motor’s self-weight and motor static eccentricity. Several superior dynamic inertial suspension structures that enhance suspension performance are identified. Next, optimization algorithms are employed to optimize the parameters of the dynamic inertial suspension, determining the topological structure that optimizes suspension performance. Then, a quarter-HMDV dynamic inertial suspension model based on the Acceleration-Driven-Damping (ADD) control strategy is developed, followed by an analysis of the mechanism for suppressing negative vertical vibrations in HMDV. Finally, the dynamic inertial suspension based on ADD is taken as the reference model, and the dynamic inertial suspension based on FOSMC is built, and the simulation and single-channel experiment are carried out. The simulation and test data show that the controlled dynamic inertial suspension has obvious inhibition effect on the deterioration of vehicle suspension performance caused by wheel hub motor.