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ASR Adaptive Nonsingular Terminal Sliding Mode Control Method Based on Multi-agent

A non-singular terminal, multi-agent technology, 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, limited computing resources, etc., to reduce chattering and Complexity, the effect of reducing system energy consumption

Active Publication Date: 2022-05-06
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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[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 ASR adaptive non-singular terminal sliding mode control method based on multi-agent involves in the field of ASR control. This method decomposes ASR into four single-wheel agent subsystems based on graph theory to reduce the model dimension, and transforms the ASR controller design into The single-wheel agent subsystem controller is designed, and a single-wheel agent adaptive non-singular terminal sliding mode controller is proposed. The adaptive estimation mechanism is used to select the gain of the controller switching item, and the actual Time for the slip ratio to reach the ideal slip ratio value. The invention realizes that under different road surface adhesion conditions, the actual slip rate of the wheel reaches the ideal slip rate value within a limited time, effectively avoids the problem of wheel slippage, and improves the safety and driving ability of the system.

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 drive wheel can be independently controlled, which can be accurately and accurately within the range of motor capabilities. Quickly realize the braking torque control of a single driving wheel and the torque distribution control between axles and wheels. 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 ...

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Application Information

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Patent Type & Authority Patents(China)
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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