A half-car vibration model of an electric vehicle driven by rear in-wheel motors was developed using bond graph theory and the\nmodular modeling method. Based on the bond graph model, modal analysis was carried out to study the vibration characteristics\nof the electric vehicle. To verify the effectiveness of the established model, the results were compared to ones computed on the\nground of modal analysis and Newton equations. The comparison shows that the vibration model of the electric vehicle based on\nbond graph theory not only is able to better compute the natural frequency but also can easily determine the deformation mode,\nmomentummode, and other isomorphism modes and describe the dynamic characteristics of an electric vehicle driven by in-wheel\nmotors more comprehensively than other modal analysis methods.
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