The invention discloses an active suspension output consistency control method based on multiple agents. The method comprises the steps that a whole vehicle dynamics model and a tire dynamics model are established; establishing a whole vehicle attitude control model and a vehicle vibration coupling model; designing a vehicle attitude controller, and determining a whole vehicle vibration decoupling performance index; expected output of the active suspension system under different driving road conditions is obtained; establishing an active suspension system dynamic model based on multiple agents; the expected output of the active suspension is obtained, and the inconsistent error between suspension sub-systems is eliminated through the force synchronization controller, so that the consistency of the output of the active suspension system is ensured. On the basis of ensuring the running stability and safety of the vehicle, the mutual influence of vibration in all directions of the suspension system is weakened, the vibration reduction performance is facilitated, and the comfort of the vehicle is improved.
本发明公开了一种基于多智能体的主动悬架输出一致性控制方法,包括:建立整车动力学模型、轮胎动力学模型;建立整车姿态控制模型与车辆振动耦合模型;设计车辆姿态控制器,确定整车振动解耦性能指标;得到不同行驶路况下主动悬架系统的期望输出;建立基于多智能体的主动悬架系统动力学模型;得到的主动悬架的期望输出,并通过力同步控制器消除悬架子系统之间的不一致误差,从而确保主动悬架系统输出的一致性。本发明在保证车辆行驶稳定性和安全性的基础上,减弱悬架系统各个方向振动的相互影响,有利于减振性能,提高车辆的舒适性。
Active suspension output consistency control method based on multiple agents
一种基于多智能体的主动悬架输出一致性控制方法
2023-11-24
Patent
Electronic Resource
Chinese
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