摘要
为解决复杂工况下分布式驱动电车(Distributed Drive Electric Vehicle,DDEV)的驱动防滑问题,基于模块化提出了一种多智能体分布式协同控制策略。首先,采用模块化的方法搭建了整车结构,将各轮毂电机车轮和控制器整体视为一个智能体,根据车轮运动学和整车运动学建立智能体的滑转率模型;然后,设计了基于多智能体的分布式模型预测控制策略,以多约束条件下的协同优化为目标函数,实现驱动防滑,在解决驱动力不足问题的同时,达到了低能耗和舒适性;最后,利用Simulink软件和CarSim软件进行仿真实验,实验结果证明了所提控制策略的有效性,为分布式驱动的进一步应用提供了新的控制方法。
To solve the problem of driving anti-slip of Distributed Drive Electric Vehicle(DDEV)under complex working conditions,a multi-agent distributed cooperative control strategy based on modular was proposed.Firstly,a modular approach was used to build the whole vehicle structure,and each hub motor wheel and controller as a whole was regarded as an agent,and the slip rate model of the agent was established according to the wheel motion and the whole vehicle motion;then,a Distributed Model Predictive Control(DMPC)strategy based on multi-agents was designed to achieve drive anti-slip with co-optimisation under multiple constraints as the objective function,which solves the problem of insufficient drive power and achieves low energy consumption and comfort at the same time;finally,experiments were simulated using Simulink software and CarSim software.The experimental results demonstrate the effectiveness of the proposed control strategy and provide a new control method for further applications of distributed drives.
作者
牛强
魏文军
NIU Qiang;WEI Wenjun(School of Automation and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;Key Laboratory of Opto-Technology and Intelligent Control of Ministry of Education,Lanzhou Jiaotong University,Lanzhou 730070,China)
出处
《现代制造工程》
北大核心
2025年第8期63-70,共8页
Modern Manufacturing Engineering
基金
国家自然科学基金项目(61863023)
甘肃省自然科学基金项目(23JRRA868)。
关键词
分布式驱动电车
模块化
多智能体
滑转率
分布式模型预测控制
Distributed Drive Electric Vehicle(DDEV)
modular
multi-agent
slip rate
Distributed Model Predictive Control(DMPC)
作者简介
通信作者:牛强,硕士研究生,主要研究方向为分布式驱动电车的多智能体协同控制,E-mail:1809524306@qq.com;魏文军,博士,教授,主要研究方向为多智能体协同控制与优化等方面的教学与科研,weiwenjun@lzjtu.edu.cn。
