分布式驱动电车的多智能体协同驱动防滑控制

doi:10.16731/j.cnki.1671-3133.2025.08.007

现代制造工程 ›› 2025, Vol. 539 ›› Issue (8): 63-70.doi: 10.16731/j.cnki.1671-3133.2025.08.007

分布式驱动电车的多智能体协同驱动防滑控制

牛强¹, 魏文军^1,2

1 兰州交通大学自动化与电气工程学院,兰州 730070;
2 兰州交通大学光电技术与智能控制教育部重点实验室,兰州 730070

收稿日期:2024-11-08 出版日期:2025-08-18 发布日期:2025-09-09
通讯作者: 牛强,硕士研究生,主要研究方向为分布式驱动电车的多智能体协同控制。E-mail:1809524306@qq.com。
作者简介:魏文军,博士,教授,主要研究方向为多智能体协同控制与优化等方面的教学与科研。E-mail:1809524306@qq.com;weiwenjun@lzjtu.edu.cn
基金资助:
国家自然科学基金项目(61863023);甘肃省自然科学基金项目(23JRRA868)

Multi-agent cooperative drive anti-slip control for distributed drive electric vehicle

NIU Qiang¹, WEI Wenjun^1,2

1 School of Automation and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou 730070,China;
2 Key Laboratory of Opto-Technology and Intelligent Control of Ministry of Education, Lanzhou Jiaotong University,Lanzhou 730070,China

Received:2024-11-08 Online:2025-08-18 Published:2025-09-09

摘要/Abstract

摘要： 为解决复杂工况下分布式驱动电车(Distributed Drive Electric Vehicle,DDEV)的驱动防滑问题,基于模块化提出了一种多智能体分布式协同控制策略。首先,采用模块化的方法搭建了整车结构,将各轮毂电机车轮和控制器整体视为一个智能体,根据车轮运动学和整车运动学建立智能体的滑转率模型;然后,设计了基于多智能体的分布式模型预测控制策略,以多约束条件下的协同优化为目标函数,实现驱动防滑,在解决驱动力不足问题的同时,达到了低能耗和舒适性;最后,利用Simulink软件和CarSim软件进行仿真实验,实验结果证明了所提控制策略的有效性,为分布式驱动的进一步应用提供了新的控制方法。

关键词: 分布式驱动电车, 模块化, 多智能体, 滑转率, 分布式模型预测控制

Abstract: To solve the problem of driving anti-slip of Distributed Drive Electric Vehicle (DDEV) under complex working conditions,a multi-agent distributed cooperative control strategy based on modular was proposed. Firstly,a modular approach was used to build the whole vehicle structure,and each hub motor wheel and controller as a whole was regarded as an agent,and the slip rate model of the agent was established according to the wheel motion and the whole vehicle motion;then,a Distributed Model Predictive Control (DMPC) strategy based on multi-agents was designed to achieve drive anti-slip with co-optimisation under multiple constraints as the objective function,which solves the problem of insufficient drive power and achieves low energy consumption and comfort at the same time; finally,experiments were simulated using Simulink software and CarSim software. The experimental results demonstrate the effectiveness of the proposed control strategy and provide a new control method for further applications of distributed drives.

Key words: Distributed Drive Electric Vehicle (DDEV), modular, multi-agent, slip rate, Distributed Model Predictive Control (DMPC)

中图分类号:

TP273

牛强, 魏文军. 分布式驱动电车的多智能体协同驱动防滑控制[J]. 现代制造工程, 2025, 539(8): 63-70.

NIU Qiang, WEI Wenjun. Multi-agent cooperative drive anti-slip control for distributed drive electric vehicle[J]. Modern Manufacturing Engineering, 2025, 539(8): 63-70.

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分布式驱动电车的多智能体协同驱动防滑控制

Multi-agent cooperative drive anti-slip control for distributed drive electric vehicle

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