汽车底盘协同控制的多智能体技术.pdfVIP

2010 12 December 2010 29 12 M echanical Science and Technology forA erospace Engineering Vol. 29 No. 12 1 2 3 牛礼民, 赵又群 , 冯能莲 1 ( , 243002; 2 3 , 210016; , 100124) : 为实现汽车底盘的协同控制, 消除悬架子系统与转向子系统的 互消极影响, 提出了一种 基于多智能体理论的协调控制方法构建出半主动悬架智能体电动助力转向智能体和系统智能 体, 基于分层递阶理论搭建了可扩展化高智能化的底盘协同控制框架, 并在智能体开发环境 JATL ite下进行了仿真结果表明: 多智能体的协作求解机制对悬架和转向子系统的匹配起到了有 效的协调控制, 验证了智能体技术在底盘协同控制应用中的可行性和有效性 : 多智能体; 悬架; 电动助力转向; 协同控制 : TP302 : A : 1003 72 ( 2010) M ultiagent Technology for Vehicle Chassis Coordinated Control 1 2 3 N iu L mi in , Zhao Youqun , Feng Nenglian 1 ( AnhuiUn ivers ity of Technology, M aanshan 243002 2 Nanjing Un iversity of Aeronautics and Astronau tics, Nanjing 210016; 3 Beijing University of Technology, Beijing 100124) Abstract: A coord inated controlmethod based on mu ltiagent (MA ) theory is proposed in order to elmi inate the mutual negative influences of suspension and steering subsystems, and to realize coord inated control of veh icle chas sis. Sem iactive suspension agent ( SAS agent), electric pow er steering agent ( EPS agent) and system agent ( SYS agent) w ere formed. Themultilevel hierarch icalmethod isused to establish a cooperative control framew ork for the chassiswh ich is extensible and intellectualized. Smi u lation w as caried out using the agent development template