电控空气悬架多智能体博弈控制系统研究

为协调互联状态控制与车身高度控制之间的耦合关系,结合多智能体理论和博弈论思想搭建电控空气悬架多智能体博弈控制系统。首先建立与试验样车相匹配的整车模型,验证模型准确性,在此基础上,搭建由信息采集智能体、车身高度控制智能体、互联状态控制智能体和博弈智能体构成的多智能体博弈控制系统。在单一工况下验证系统学习行为的有效性,在混合工况下验证系统控制效果。结果表明,在该系统的控制下,直线行驶时,驾驶员位置处的总加权加速度均方根值降低了7.77%,侧倾因子降低了17.87%;转弯工况下,通过牺牲部分行驶平顺性,改善了车辆操纵稳定性;在混合工况下,车辆整体性能有大幅度提升。

Research on Multi-Agent Game Control System of an Electronic Air Suspension

In order to coordinate the coupling relationship between the interconnection state control and the vehicle height control,an electronic air suspension multi-agent game control system is built by combining the multi-agent theory and game theory.First,the vehicle model that matches with the test vehicle is established and the accuracy of the model is verified.On this basis,the multi-agent game control system consisting of information collecton intelligent agent,vehicle height control agent,interconnected state control agent and game agent is constructed.The effectiveness of the system s learning behavior is verified under a single working condition,and the system control effect is verified under mixed conditions.The results show that under the control of the system,the root mean square value of the total weighted acceleration at the driver s position decreases by 7.77%and the roll factor decreases by 17.87%when driving in a straight line.Steering stability of the vehicle is improved by sacrificing partial ride comfort under cornering conditions.Under mixed conditions,the overall performance of the vehicle is greatly improved.