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目前底盘集成控制研究主要集中于不同的评价指标和控制策略。在针对不同评价指标的研究中,基于非线性叠加原则的综合性能并没有考虑在内。在针对控制策略的研究中,关于侧偏角、路面附着系数、垂直载荷和车速的轮胎模型存在不足。因此,基于BDI-agent模型框架,提出轮胎agent,电动助力转向agent和主动悬架系统agent。在系统agent中,采用协调机制来管理各agent子系统,以便提高整个控制系统的灵活性、适应性和鲁棒性。由于需要进行动态特性的仿真,在SIMPACK中建立车辆多体动力学模型,并通过联合仿真分析来评定多agent系统控制器性能。仿真结果表明,多agent系统在电动助力转向系统和主动悬架系统中表现良好。同时,在多变和复杂的驾驶状况下能给驾驶员提供更好的路感。最后,建立多agent系统快速控制原型进行实车试验。试验结果和仿真结果一致,证实了仿真的正确性。所提研究方法在保证了驾驶安全性的同时,改善了操纵稳定性和提高了车辆平顺性。
At present, the research of chassis integrated control mainly focuses on different evaluation indexes and control strategies. In the research of different evaluation indexes, the comprehensive performance based on the non-linear superposition principle is not taken into account. In the research of control strategies, the tire model of slip angle, pavement adhesion coefficient, vertical load and vehicle speed are deficient. Therefore, based on the BDI-agent model framework, a tire agent, an electric power steering agent and an active suspension system agent are proposed. In the system agent, coordination mechanism is adopted to manage each agent subsystem in order to improve the flexibility, adaptability and robustness of the whole control system. The multi-body dynamics model of the vehicle is established in SIMPACK and the performance of multi-agent system controller is evaluated through the co-simulation analysis because of the dynamic simulation. The simulation results show that the multi-agent system performs well in the electric power steering system and the active suspension system. At the same time, the driver is provided with a better road feel in a changing and complicated driving situation. Finally, the establishment of multi-agent system rapid control prototype for real car test. The test results are consistent with the simulation results, confirming the correctness of the simulation. The proposed method not only improves driving safety but also improves steering stability and vehicle ride comfort.