基于多智能体理论的气路闭环互联空气悬架系统协同控制理论与技术

Coupled and interfered relationship exists in interconnected ECAS (electronically controlled air suspension) system with closed-loop air circuit. Because of inference among these different control conditions, optimal conditions of each control object could not lead to optimum performance of vehicle with simply integrated control system. Utilizing analysis theories and methods of non-linear system, a non-linear dynamic model of interconnected air suspension with closed-loop air circuit is built. Based on effectiveness of interconnected structure on vehicle comprehensive performance, a matching theory of interconnected air suspension with vehicle is developed. By studying pressure distribution law of closed-loop charging-discharging system and analyzing effectiveness of system parameters on charging-discharging performance, an energy save matching theory of closed-loop system with vehicle is established. Then, interconnecting control, height control and damping control strategies are developed. Based on multi-agent theory, a multi-agent model of interconnected air suspension with closed-loop air circuit is built, and their communicating mechanism is developed. Depending on dynamic cooperative game theory, effectiveness distribution values of each agent and core parameters of control algorithms are determined. A cooperative control theory of interconnected ECAS system with closed-loop air circuit is developed. And a test bench of the interconnected ECAS system is built to verify the effectiveness of the cooperative control theory. In this way, vibration isolation, torsion elimination and energy saving of the suspension system are improved, along with better vehicle running quality. Theoretical support will be provided to design and develop new ECAS systems.

气路闭环互联空气悬架系统中可控结构间关系复杂，存在耦合，控制条件相互干涉，导致所有单个可控结构最优控制不能保证整车综合性能最优。运用非线性系统分析理论与方法，建立气路闭环互联空气悬架非线性动力学模型，分析互联结构参数对整车综合性能的影响，建立互联空气悬架系统与整车的匹配理论；探索气路闭环充放气系统的压力分布规律，分析系统参数对充、放气特性的影响，构建气路闭环系统与整车的节能匹配理论；构建互联状态控制策略、车身高度控制策略和阻尼控制策略，引入多智能体理论，建立气路闭环互联空气悬架系统多智能体模型及智能体间通讯机制，依托动态合作博弈理论求解各智能体的效用分配值和控制算法核心参数，构建气路闭环互联ECAS系统的协同控制理论；搭建气路闭环互联ECAS系统试验系统，试验验证协同控制理论正确性，提升悬架系统的隔振、消扭、节能等性能，改善整车运行品质，为新型ECAS系统设计与开发提供理论支撑。

气路闭环互联空气悬架中可控结构间关系复杂、存在多重耦合，控制条件相互干涉，多个可控结构的独立控制无法实现整车行驶平顺性和操纵稳定性的最优。本项目根据车辆动力学理论，设计了横向、纵向和四角三种不同互联结构的新型气路闭环空气悬架系统，采用非线性建模方法，建立了相应的模型，研究了不同互联结构和互联管路参数对整车行驶平顺性和操纵稳定性的影响规律，以及气路闭环系统高低压气罐气压对充放气速率和系统能耗的影响规律；借鉴了天棚阻尼控制思想，构建了仿天棚互联状态控制策略，研究了滞回区间对控制效果的影响，基于路面不平度辨识，进一步提出了工况自适应的仿天棚互联状态控制策略，提升了车辆在不同路面下的行驶平顺性和转弯工况时的操纵稳定性；依据总体满意度的要求，设计了积分分离PID和前后跟随车身高度控制策略，解决了静、动态车身高度调节过程中的超调和振荡问题，同时保证了整车的车身姿态稳定；基于传统控制策略，采用BDI和PRS智能体结构，搭建了互联状态控制、阻尼控制、车身高度控制单个智能体，提升了互联空气悬架控制系统的自主性和适应性，充分发挥空气悬架性能；引入多智能体理论和合作博弈思想，通过合作博弈Shapley值法与确定型无穷时域微分博弈法协调各智能体动作，构建了气路闭环互联空气悬架系统的协同控制策略，实现了车辆行驶平顺性和操纵稳定性总体指标得到协调与优化；改装了空气悬架样车为互联空气悬架试验样车，并构建了分布式协同控制系统软硬件平台，提供了系统软硬件接口，实现了系统模块化，极大缩减了后续试验成本。试验验证了模型的准确性、平台可靠性和所提控制策略的有效性。基于上述研究，归纳总结了互联空气悬架系统协同控制理论，为新型空气悬架系统设计与开发提供了理论支撑。