The invention discloses a multi-agent-based active suspension distributed coordination control method, relates to the field of active suspension system control, and solves the problems of multi-actuator coupling, computing power requirements during engineering application, riding comfort requirements and the like in an active suspension system. Decomposing the seven-degree-of-freedom whole vehicle model into seven subsystems, and establishing an active suspension dimension reduction control model based on a graph theory so as to simplify the dimension of the model; and then proposing an active suspension rapid model prediction control method based on multiple agents and an ith agent rapid optimization solving method based on an RBF neural network. According to the control method, the design difficulty of the active suspension controller is reduced, the algorithm real-time performance is improved, meanwhile, the vertical acceleration, the pitching acceleration and the roll acceleration of the vehicle body are rapidly reduced under different road surface grades, and the comfort and the operation stability of the whole vehicle are effectively improved.
基于多智能体的主动悬架分布式协调控制方法涉及主动悬架系统控制领域,解决了主动悬架系统中存在的多执行器耦合、工程应用时的算力需求、乘坐舒适性要求等问题,该方法利用重新定义控制输入及其约束条件,将七自由度整车模型分解为七个子系统,建立基于图论的主动悬架降维控制模型,以简化模型维度;然后提出基于多智能体的主动悬架快速模型预测控制方法和基于RBF神经网络的第i个智能体快速优化求解方法。本发明的控制方法在降低主动悬架控制器设计难度以及提高算法实时性的同时,实现了不同路面等级下,车身垂向、俯仰和侧倾加速度的快速降低,有效提高了整车的舒适性和操稳性。
Active suspension distributed coordination control method based on multiple agents
基于多智能体的主动悬架分布式协调控制方法
2023-05-05
Patent
Electronic Resource
Chinese
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