摘要
The existing research of the integrated chassis control mainly focuses on the different evaluation indexes and control strategy. Among the different evaluation indexes, the comprehensive properties are usually not considered based on the non-linear superposition principle. But, the control strategy has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, based on belief, desire and intention（BDI）-agent model framework, the TYRE agent, electric power steering（EPS） agent and active suspension system（ASS） agent are proposed. In the system（SYS） agent, the coordination mechanism is employed to manage interdependences and conflicts among other agents, so as to improve the flexibility, adaptability, and robustness of the global control system. Due to the existence of the simulation demand of dynamic performance, the vehicle multi-body dynamics model is established by SIMPACK. And then the co-simulation analysis is conducted to evaluate the proposed multi-agent system（MAS） controller. The simulation results demonstrate that the MAS has good effect on the performance of EPS and ASS. Meantime, the better road feeling for the driver is provided considering the multiple and complex driving traffic. Finally, the MAS rapid control prototyping is built to conduct the real vehicle test. The test results are consistent to the simulation results, which verifies the correctness of simulation. The proposed research ensures the driving safety, enhances the handling stability, and improves the ride comfort.
The existing research of the integrated chassis control mainly focuses on the different evaluation indexes and control strategy. Among the different evaluation indexes, the comprehensive properties are usually not considered based on the non-linear superposition principle. But, the control strategy has some shortages on tyre model with side-slip angle, road adhesion coefficient, vertical load and velocity. In this paper, based on belief, desire and intention（BDI）-agent model framework, the TYRE agent, electric power steering（EPS） agent and active suspension system（ASS） agent are proposed. In the system（SYS） agent, the coordination mechanism is employed to manage interdependences and conflicts among other agents, so as to improve the flexibility, adaptability, and robustness of the global control system. Due to the existence of the simulation demand of dynamic performance, the vehicle multi-body dynamics model is established by SIMPACK. And then the co-simulation analysis is conducted to evaluate the proposed multi-agent system（MAS） controller. The simulation results demonstrate that the MAS has good effect on the performance of EPS and ASS. Meantime, the better road feeling for the driver is provided considering the multiple and complex driving traffic. Finally, the MAS rapid control prototyping is built to conduct the real vehicle test. The test results are consistent to the simulation results, which verifies the correctness of simulation. The proposed research ensures the driving safety, enhances the handling stability, and improves the ride comfort.
基金
supported by National Natural Science Foundation of China(Grant No.50875112)
PhD Programs Foundation of Ministry of Education of China(Grant No.20093227110013)
Jiangsu Provincial Natural Science Foundation of China(Grant No.BK2010337)
Natural Science Foundation of Higher Education of Jiangsu Province,China(Grant No.09KJA580001)
