The in-wheel motor (IWM) driving system has potential applications in electric vehicles (EV) due to its high integration and controllability. However, the IWM electromagnetic excitation, which acts on the wheels, can produce negative vibration and noise issues. This paper investigates the influence of electromagnetic excitation and suppression methods. An integrated model considering the electromagnetic excitation, including the suspension system, the driving system, and the IWM system, is established and developed. A motor speed control system, which includes the acceleration and the motor braking conditions, is designed, and the characteristics of the electromagnetic excitation on the integrated model are analyzed. An active suspension model with uncertain parameters is established, and a controller based on the $\mu$ synthesis algorithm is developed to improve the dynamic performance of the electric vehicle. Simulation results show that the $\mu$ synthesis controller can significantly reduce the electromagnetic excitation of the motor by suppressing the air gap eccentricity of the IWM. Simultaneously, the $\mu$ synthesis controller can also improve the vehicle comfort and the road holding of the electric vehicle. For IWM-EV, the proposed modeling method can accurately describe the dynamic characteristics of IWM, and the designed controller can effectively suppress the vibration problem of IWM-EV.

轮毂电机（IWM）驱动系统具有高度的集成性和可控性，因此在电动汽车（EV）中具有潜在的应用。但是，作用在车轮上的IWM电磁激励会产生负面的振动和噪音问题。本文研究了电磁激励和抑制方法的影响。建立并考虑了电磁激励的集成模型，包括悬架系统，驱动系统和IWM系统。设计了包括加速度和制动条件的电动机速度控制系统，并分析了集成模型上的电磁激励特性。建立了参数不确定的主动悬架模型，并基于该模型建立了控制器。$\mu$开发了综合算法以改善电动车辆的动态性能。仿真结果表明$\mu$综合控制器可以通过抑制IWM的气隙偏心率来显着减少电动机的电磁激励。同时，$\mu$综合控制器还可以改善车辆的舒适度和电动汽车的路况。对于IWM-EV，所提出的建模方法可以准确地描述IWM的动态特性，设计的控制器可以有效地抑制IWM-EV的振动问题。