基于多Agent的电动汽车底盘智能控制系统框架

Intelligent Control System Framework for Multi-Agent Based Electric Vehicle Chassises

为了解决传统集成控制框架灵活性和可扩展性不足以及传统汽车底盘控制系统不适用于新型分布式轮毂电机驱动纯电动汽车的问题,提出了基于多Agent的四轮独立驱动纯电动汽车的底盘智能动态综合控制系统框架,分析了框架各个层次的功能和相互关系。以底层控制层中直接横摆力矩控制Agent为例,搭建控制器Agent模型。在MATLAB/Simulink和Carsim联合仿真环境中对前轮转向角阶跃输入工况进行仿真试验。仿真结果表明,搭建的控制器Agent较好地实现了预期的动力学控制目标,有效改善了车辆的横向操纵稳定性能,奠定了控制框架的基础。

To solve the problems that flexibility and scalability limitations of the traditional integrat-ed chassis control frameworks and the traditional vehicles chassis control system was not suitable for dis-tributed in-wheel motors drive electric vehicles,an intelligent chassis dynamic control system framework was proposed based on multi-Agent for four-wheel independent driving electric vehicles.And the func-tions and interrelations of layers were analyzed.Taking direct yaw-moment control Agent of underlying control layer as an example,the controller Agent model was designed.In the co-simulation environment including MATLAB/Simulink and Carsim,simulation tests were conducted with the conditions of front wheel steering angle step input.Simulation results show that the controller Agent model may achieve the desired objectives of dynamic control and improve the performances of lateral handling stability effective-ly,which lays the foundation for the proposed control framework.