Abstract: Abstract: An 11 degree-of-freedom dynamic model was constructed for an electric vehicle driven with two rear hub-motors to analyze the influence on ride quality and the handling characteristics of unsprung mass increase. A full vehicle simulation model was developed using the MATLAB/Simulink with a simulated road model as input. The simulation model can realize the varies simulations with different vehicle parameters, control strategies and analyzing goals, while it can also determine the changes of dynamic load on tires, suspension deflection and attitude (including pitch, roll and yaw). The above analyzed conclusions can enhance the development of electric vehicle driven by hub-motors, while they support the design of suspension and control strategies. 

Key words: electric vehicle, hub-motor, control strategy, ride quality, handling characteristics