| [分布式驱动电动汽车动力学控制]基于多Agent的电动汽车底盘智能控制系统框架 |
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| 引用本文： | 殷国栋,朱侗,任祖平,李广民,金贤建.[分布式驱动电动汽车动力学控制]基于多Agent的电动汽车底盘智能控制系统框架[J].中国机械工程,2018,29(15):1796. |
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| 作者姓名： | 殷国栋 朱侗 任祖平 李广民 金贤建 |
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| 作者单位： | 东南大学机械工程学院，南京，211189 |
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| 基金项目： | 国家自然科学基金汽车联合基金资助重点项目（U1664258）；
国家自然科学基金资助项目（51575103）；
国家重点研发计划资助项目（2016YFB0100906、2016YFD0700905） |
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| 摘 要： |
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| 关 键 词： | 电动汽车底盘 多Agent 控制框架 直接横摆力矩控制 |
Intelligent Control System Framework for Multi-Agent Based Electric Vehicle Chassises |
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| YIN Guodong,ZHU Tong,REN Zuping,LI Guangmin,JIN Xianjian.Intelligent Control System Framework for Multi-Agent Based Electric Vehicle Chassises[J].China Mechanical Engineering,2018,29(15):1796. |
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| Authors: | YIN Guodong ZHU Tong REN Zuping LI Guangmin JIN Xianjian |
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| Affiliation: | School of Mechanical Engineering，Southeast University，Nanjing，211189 |
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| Abstract: | To solve the problems that flexibility and scalability limitations of the traditional integrated chassis control frameworks and the traditional vehicles chassis control system was not suitable for distributed 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 functions 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 effectively， which lays the foundation for the proposed control framework. |
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| Keywords: | electric vehicle chassis multi-Agent control framework direct yaw-moment control |
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