摘要
提出了基于多智能体的车辆自动刹车系统(ABS)稳定性控制和再生制动过程中能量最优回收联合控制策略。首先基于图论搭建复合制动系统的车辆动力学模型,设计基于多智能体的滑移率最优稳定控制方法,并采用李亚普诺夫函数进行稳定性证明;然后采用液压制动补偿分配,根据电机和电池约束条件进行再生制动转矩的分配;最后利用Carsim和MATLAB-Simulink进行联合仿真。
A strategy combined the stability control and optical energy recovery in the regenerating process is offered here based on multi-agent vehicle automatic brake system(ABS).First,a vehicle dynamic model of the composite braking system is built based on graph theory.The sliding rate optimal stability control method based on multi-agent is designed and its stability is proved with Lyapunov function.Then hydraulic braking compensation is applied to the regenerated braking moment distribution according motor and battery constraint conditions.Finally,the Carsim and MATLAB-Simulink are used for joint simulation.
作者
李涛涛
孙赫阳
张袅娜
LI Taotao;SUN Heyang;ZHANG Niaona(School of Electrical & Electronic Engineering, Changchun University of Technology, Changchun 130012, China)
出处
《长春工业大学学报》
CAS
2020年第3期275-281,共7页
Journal of Changchun University of Technology
基金
吉林省科技厅基金资助项目(20180519014JH)
长春市科技局基金资助项目(18DY015)。
关键词
滑模控制
多智能体
滑移率
再生制动
能量回收
sliding control
multi-agent
sliding rate
regenerative braking
energy recovery
