ASR adaptive nonsingular terminal sliding mode control method based on multiple agents

A non-singular terminal and multi-agent technology, which is applied in the field of distributed drive electric vehicle drive anti-skid system control, can solve problems such as changes in road adhesion conditions, tire nonlinear characteristics, and limited computing resources, so as to reduce the model dimension and eliminate Calculation volume, effect of avoiding wheel slip

Active Publication Date: 2020-09-15
CHANGCHUN UNIV OF TECH
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Problems solved by technology

[0005] In order to solve the influence of multi-actuator coupling, tire nonlinear characteristics, modeling uncertainty, changes in road adhesion conditions, and limited computing resources in the distributed drive electric vehicle control system on the driving anti-skid effect, the present invention proposes a method based on Multi-agent ASR Adaptive Nonsingular Terminal Sliding Mode Control Method

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  • ASR adaptive nonsingular terminal sliding mode control method based on multiple agents
  • ASR adaptive nonsingular terminal sliding mode control method based on multiple agents
  • ASR adaptive nonsingular terminal sliding mode control method based on multiple agents

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[0021] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] Such as figure 1 As shown, in the ASR self-adaptive non-singular terminal sliding mode control method based on multi-agents in the present invention: according to the hardware connection structure and the internal working communication principle of the four driving wheels of the distributed drive electric vehicle, the ideal slip rate is selected as the virtual leader 0, the four driving wheel systems are respectively used as four follower agents, that is, driving wheel agent 1, driving wheel agent 2, driving wheel agent 3 and driving wheel agent 4, each driving wheel agent can Obtain state signals for the virtual leader and adjacent driving wheel agents. By designing the control strategy of a single driving wheel agent considering the state information of its own agent and adjacent agents, the actual slip rate of the system un...

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Abstract

The invention discloses an ASR adaptive nonsingular terminal sliding mode control method based on multiple agents, and relates to the field of ASR control. According to the method, ASR is decomposed into four single-wheel intelligent agent subsystems based on a graph theory so as to reduce the model dimension; the design of an ASR controller is converted into the design of a single-wheel intelligent agent subsystem controller, a single-wheel agent self-adaptive nonsingular terminal sliding mode controller is provided, a self-adaptive estimation mechanism is adopted to select controller switching item gains, and the time for the actual slip rate to reach an ideal slip rate value can be adjusted through selection of control parameters. According to the invention, under different road adhesion conditions, the actual slip rate of the wheel reaches an ideal slip rate value within limited time, so that the problem of wheel slip is effectively solved, and the safety and the driving capabilityof the system are improved.

Description

technical field [0001] The invention relates to the control field of a distributed drive electric vehicle drive anti-skid system (hereinafter referred to as ASR), and mainly relates to a multi-agent-based ASR self-adaptive non-singular terminal sliding mode control method. Background technique [0002] Compared with traditional internal combustion engine vehicles, distributed drive electric vehicles cancel complex traditional systems such as transmissions and differentials, and have higher transmission efficiency, and the drive motors of each wheel can be controlled independently, which can be accurately and quickly within the range of motor capabilities. Realize single wheel braking torque control and inter-axle, inter-wheel torque distribution control. The performance and stability of distributed drive EVs largely depend on the coordinated work of the four-wheel motors. However, distributed drive EV is a highly nonlinear system with strong coupling and time-varying parame...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 张袅娜李宗昊张琪张曦予庞广华李绍松郭孔辉呼微李昊林姜春霞唐溧克
Owner CHANGCHUN UNIV OF TECH
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