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Yawing moment control method of individual driven electromobile based on multi-agent

A yaw moment, independent drive technology, applied in electric vehicles, control drive, power management and other directions, can solve problems such as unsatisfactory effect, excessive dependence on system model parameters, and difficulty in establishing accurate model time-varying nonlinear systems.

Inactive Publication Date: 2013-04-24
XI AN JIAOTONG UNIV
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Problems solved by technology

The problem with these methods is that they depend too much on the parameters of the system model, and the correction control of the vehicle yaw moment is a time-varying nonlinear system that is difficult to establish an accurate model, so the effect is not ideal

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  • Yawing moment control method of individual driven electromobile based on multi-agent
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  • Yawing moment control method of individual driven electromobile based on multi-agent

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Embodiment Construction

[0067] The present invention will be further described in detail below in conjunction with specific embodiments, which are explanations of the present invention rather than limitations.

[0068] The yaw moment control method of four-wheel independent drive electric vehicle based on multi-agent mainly includes:

[0069] 1) Set up four-wheel independently driven electric vehicle, state observation and measurement module, yaw moment electronic control unit (ECU), motor controller and CAN communication module;

[0070] 2) The state observation and measurement module collects wheel speed signals, wheel angles, pedal force, and yaw angular velocity in real time through four-wheel speed sensors, angular displacement sensors, pedal force sensors, and yaw angular velocity sensors;

[0071] 3) The yaw moment electronic control unit (ECU) obtains the four-wheel action sequence by analyzing the collected signals and using the multi-agent-based reinforcement learning Q algorithm;

[0072]...

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Abstract

The invention discloses a yawing moment control method of an individual driven electromobile based on a multi-agent. The yawing moment control method includes enabling a yawing moment electric control unit to ba a regulating controller of every motor of the individual driven electromobile to obtain a turning intention and a driving state of a driver in real time through a state observation and measurement module; obtaining torque adjusting motion sequence which is needed by four-wheel of the individual electromobile through a reinforced learning Q-algorithm which is based on a multi-agent; sending the motion sequence to every driven motor controller of the individual driven electromobile through the muli-agent, sending instructions to every driven motor to carry out received motion sequence, generating needed yawing moment and rectifying the posture of the electromobile. The yawing moment control method of the individual driven electromobile based on the multi-agent has the advantages of avoiding energy consumption during actuating process by utilizing driving force control, disposing non-linear elements existing in the system and guaranteeing the stability of turning.

Description

technical field [0001] The invention belongs to the technical field of electric vehicle yaw moment control, and relates to a multi-agent-based independently driven electric vehicle yaw moment control method. Background technique [0002] Independently driven electric vehicles are a novel research direction for electric vehicles. The four wheels can be driven independently by configuring hub motors or wheel-side geared motors. In the outer differential speed operation, the steering stability of the vehicle cannot be guaranteed due to the change of parameters in the kinematics model, and the steering stability of the vehicle must be improved by coordinating the torque of each wheel through dynamic control. The Electronic Stability Program (ESP) that has been put into use in traditional fuel vehicles judges the steering state of the vehicle, and applies corresponding braking forces to the corresponding wheels to generate yaw moment when understeering or oversteering. On the fo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/32B60L15/20
CPCY02T10/72
Inventor 张政许建张东升王晶李翔
Owner XI AN JIAOTONG UNIV
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