CN113815369A - Interconnected air suspension cooperative control system and control method based on multiple intelligent agents - Google Patents
Interconnected air suspension cooperative control system and control method based on multiple intelligent agents Download PDFInfo
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- 239000000725 suspension Substances 0.000 title claims abstract description 119
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- 238000013016 damping Methods 0.000 claims abstract description 91
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- 230000009471 action Effects 0.000 claims abstract description 27
- 239000003795 chemical substances by application Substances 0.000 claims description 71
- 239000006096 absorbing agent Substances 0.000 claims description 22
- 230000035939 shock Effects 0.000 claims description 19
- 238000007599 discharging Methods 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 12
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 238000011217 control strategy Methods 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an interconnected air suspension cooperative control system and a control method based on multiple intelligent agents. The output mechanisms of the damping, interconnection and vehicle height suspension forces are regarded as three deliberate intelligent bodies, and a cooperative control strategy of the three is formulated by combining the magnitude of the required suspension force and the respective action cost to distribute and output the target suspension force of the whole vehicle, and the output suspension force is fed back to act on the whole vehicle. The invention can effectively solve the problems of high coupling degree and difficult cooperation of three suspension force output mechanisms and simultaneously reduce the energy consumption of the system caused by the frequent opening and closing of the electromagnetic valve.
Description
Technical Field
The invention relates to the field of interconnected air suspension control, in particular to a cooperative control system and a control strategy among three suspension force output mechanisms of an interconnected air suspension.
Background
The air suspension system is one of important systems for safe running of the vehicle, and can effectively relieve local impact of a road to the vehicle. The interconnected air suspension is used as a derivative structure of the air suspension, can further improve the driving smoothness and the road-friendly type of a vehicle, and is one of the main characteristics of the interconnected air suspension with three suspension force output mechanisms, namely vehicle height, interconnection and damping.
However, the three suspension force output mechanisms have high coupling degree, especially the interconnection part and the vehicle height part, and both achieve the purpose of changing the air spring force by charging and discharging the air spring through the opening and closing electromagnetic valve, so that the opening and closing frequency of the electromagnetic valve is easy to be too frequent, the service life of the electromagnetic valve is shortened, and the overall energy consumption of the system is increased.
National patent CN202010594863.1 proposes an interconnected air suspension cooperative control system based on MPC model predictive control. Although the cooperative control of the three suspension force output mechanisms is realized, a control system is too complex, and the contradiction between interconnection and the inflation and deflation of the vehicle height in the vehicle running process is not considered.
The national patent CN108839532B proposes a control method for timely adjusting the interconnection state of the interconnected air suspension according to the air pressure, but also ignores how to cooperatively control the vehicle height while adjusting the interconnection state.
Although the control method of the interconnected air suspension has been greatly developed under the efforts of numerous scholars, the contradiction between interconnection and vehicle height in the aspects of inflation and deflation is not fundamentally solved. Therefore, there is a need for improvements to existing interconnected air suspension control systems.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an interconnected air suspension cooperative control system and a control method based on multiple intelligent agents.
The technical scheme adopted by the invention is as follows:
an interconnected air suspension cooperative control system based on multiple intelligent agents comprises an information acquisition unit, a central control unit, a vehicle height intelligent agent, an interconnected intelligent agent, a damping intelligent agent and suspension force output mechanisms corresponding to the three intelligent agents; the information acquisition unit is used for acquiring basic information of the vehicle and inputting the basic information into the central control unit, and the central control unit calculates the target suspension force F of the whole vehicle in the current state according to the information acquired by the information acquisition unit1(ii) a Vehicle height agent, interconnection agent andthe action cost of the damping intelligent body distributes the target suspension force, the high intelligent body, the interconnection intelligent body and the damping intelligent body correspondingly output control commands to the vehicle height adjusting mechanism, the interconnection adjusting mechanism and the adjustable damping shock absorber, the vehicle height adjusting mechanism, the interconnection adjusting mechanism and the adjustable damping shock absorber receive the corresponding control commands and execute actions, the three suspension force output mechanisms distribute and output the target suspension force, and the suspension force output by the system is fed back to act on the whole vehicle.
Further, the vehicle height intelligent agent, the interconnection intelligent agent and the damping intelligent agent determine the working start and stop of the intelligent agent according to a cooperative working strategy, and control the three suspension force output mechanisms to distribute and output the target suspension force.
Further, the information acquisition unit comprises an air pressure sensor and a speed sensor, wherein the air pressure sensor is used for measuring the internal air pressure of the air spring when being excited by the road surface; the speed sensor is used for measuring the sprung mass speed and the unsprung mass speed of the whole vehicle.
An interconnected air suspension cooperative control method based on multiple intelligent agents comprises the following steps:
step 1: calculating and outputting the target suspension force F of the whole vehicle in the current state according to the information acquired by the information acquisition unit1；
Step 2: constructing a vehicle height intelligent agent, an interconnection intelligent agent and a damping intelligent agent, and respectively calculating the action cost J of the vehicle height intelligent agent, the interconnection intelligent agent and the damping intelligent agent1、J2、J3；
And step 3: based on the target suspension force, a cooperative working strategy of the vehicle height intelligent body, the interconnection intelligent body and the damping intelligent body is set, and working rules among the vehicle height intelligent body, the interconnection intelligent body and the damping intelligent body are determined according to the cooperative working strategy.
Further, the working rules between agents based on the collaborative working policy are as follows:
step 3.1: according to the change of air spring inflation and deflation, the vehicle height force F of the vehicle height adjusting mechanism is setHThe regulation range A is as follows:
ΔPHdiS0≤FH≤ΔPHciS0
wherein, Δ PHdiAnd Δ PHciThe air pressure change values of the air spring caused by inflation and deflation are respectively; s0Is the effective area of the air spring;
step 3.2: setting the interconnection force F of the interconnection adjusting mechanism according to the change of the air spring inflation and deflationIThe regulation range B of (1) is:
0≤FI≤ΔPIS0
wherein, Δ PIThe air pressure change value of the air charging and discharging air spring caused by interconnection is obtained;
step 3.3: if the damping coefficient c is lower than the set damping coefficient, setting the damping force F of the adjustable damping shock absorber for the whole adjustable damping shock absorber systemDThe regulation range C is as follows:
cminfd≤FD≤cmaxfd
wherein f isdFor the dynamic travel of the vehicle suspension, c ∈ [ c ]min cmax]，cmin cmaxThe minimum and maximum values of the damping coefficient, respectively;
step 3.4: when target suspension force F1When the adjustment range A of the vehicle height adjusting mechanism is exceeded, each suspension force output mechanism cannot bear the load independently, at the moment, the three intelligent bodies are all started, and the suspension force is output together according to the action cost ratio under the current working condition of each intelligent body so as to meet the requirement of the whole vehicle;
step 3.5: when target suspension force F1The magnitude of the suspension force is within the adjusting range A of the vehicle height adjusting mechanism, the suspension force requirement can be met only by adjusting the vehicle height, at the moment, the interconnected intelligent body and the damping intelligent body are closed, only the vehicle height intelligent body is opened, and the vehicle height adjusting mechanism is adjusted to independently output the suspension force;
step 3.6: when target suspension force F1When the adjustment range B of the interconnection adjusting mechanism is reduced, the vehicle height intelligent body is closed, the interconnection intelligent body and the damping intelligent body are opened, and the suspension force is output according to the action cost ratio of the interconnection intelligent body and the damping intelligent body under the current working condition;
step (ii) of3.7: when target suspension force F1When the damping force is further reduced to the adjusting range C of the adjustable damping shock absorber, the requirement of the suspension force can be met only by adjusting the damping force. At the moment, the vehicle height intelligent body and the interconnected intelligent body are closed, only the damping intelligent body is opened, and the adjustable damping shock absorber is independently adjusted to output the suspension force.
Further, the action cost J of the vehicle height agent1Expressed as:
wherein, tciAnd tdiRespectively representing the charging and discharging time of a vehicle height electromagnetic valve; i is left to {1, 2, 3, 4} refers to the air charging and discharging pipelines of the air spring at the four positions of front left, front right, back left and back right, EHAnd the power of the high charging and discharging electromagnetic valve of the vehicle is shown.
Further, the action cost J of the interconnected agents2Expressed as:
wherein, tiIndicating the opening time of the interconnected solenoid valves; i belongs to {1, 2, 3, 4} to indicate four electromagnetic valves in the front, back, left and right interconnected pipelines, EIRepresenting the power of the interconnected solenoid valves.
Further, the action cost J of the damping agent3Expressed as:
wherein, TsRepresents the opening time of the damper; i is left to {1, 2, 3, 4} refers to the damper at four positions, front left, front right, back left and back right, VDAnd IDRespectively representing the supply voltage and current of the adjustable damping shock absorber.
Further, the information collected by the information collecting unit includes: air (a)Spring internal pressure PiSprung mass velocity
And unsprung mass velocity
Further, calculating the target suspension force F of the whole vehicle in the current state1The method comprises the following steps:
based on the internal pressure P of the air springiAnd effective area S of air spring0Calculating to obtain the air spring force required by the whole vehicle: fs＝Pi×S0；
Based on sprung mass velocity
Unsprung mass velocity
And calculating the damping coefficient c of the damper to obtain the damping force required by the whole vehicle:
target suspension force required for the entire vehicle: f1＝Fs+Fd。
The invention has the beneficial effects that:
the invention constructs an interconnected air suspension cooperative control system based on a multi-agent theory. The output mechanisms of the three suspension forces of damping, interconnection and vehicle height are regarded as three deliberate intelligent bodies, and a cooperative control strategy of the three is formulated by combining the magnitude of the required suspension force and the respective action cost (energy consumption) cost to distribute and output the target suspension force of the whole vehicle, and the output suspension force is fed back to act on the whole vehicle. The problem that three suspension force output mechanisms are high in coupling degree and difficult to cooperate can be effectively solved, and energy consumption of the system caused by the fact that the electromagnetic valve is opened and closed too frequently is reduced.
Drawings
FIG. 1 is a block diagram of a multi-agent based interconnected air suspension cooperative control system;
fig. 2 is a schematic diagram of a target suspension force distribution method of the whole vehicle.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in FIG. 1, the invention provides an interconnected air suspension cooperative control system based on multiple intelligent agents, which comprises an air pressure sensor, a speed sensor, a central control unit, a vehicle height adjusting mechanism, an interconnected adjusting mechanism and an adjustable damping shock absorber. The air pressure sensor is used for measuring the internal air pressure of the air spring when the air spring is excited by a road surface. The speed sensor is used for measuring the sprung mass speed and the unsprung mass speed at the four-wheel positions of the whole vehicle. The central control unit is used for integrating information collected by the air pressure sensor and the speed sensor so as to calculate the target suspension force of the whole vehicle. The method comprises the steps of constructing a vehicle height intelligent body, an interconnection intelligent body and a damping intelligent body, distributing target suspension force according to the action cost of the vehicle height intelligent body, the interconnection intelligent body and the damping intelligent body respectively, outputting control commands to a vehicle height adjusting mechanism, an interconnection adjusting mechanism and an adjustable damping shock absorber by the high intelligent body, the interconnection intelligent body and the damping intelligent body correspondingly, receiving the corresponding control commands by the vehicle height adjusting mechanism, the interconnection adjusting mechanism and the adjustable damping shock absorber and executing the actions, distributing and outputting the target suspension force by the three suspension force output mechanisms, and applying feedback of the suspension force output by a system to the whole vehicle. Specifically, the vehicle height adjusting mechanism is used for controlling the opening and closing of an air spring air charging and discharging electromagnetic valve. The interconnection regulating mechanism is used for controlling the opening and closing of the interconnection electromagnetic valve. The adjustable damping shock absorber is used for controlling the damping force of the interconnected air suspension system.
The invention also provides a multi-agent-based interconnected air suspension cooperative control method based on the control system, which comprises the following steps:
step 1: central controlThe control unit calculates and outputs a target suspension force F under the current state of the whole vehicle according to information collected by the air pressure sensor and the speed sensor1. The step 1 is specifically as follows:
step 1.1: the central control unit measures the air pressure P in the air spring according to the air pressure sensoriAnd effective area S of air spring0Calculating to obtain the air spring force F required by the whole vehicles。
Fs＝Pi×S0
Step 1.2: the central control unit is based on the sprung mass velocity measured by the velocity sensor
And unsprung mass velocity
And calculating the damping force F required by the whole vehicle by combining the damping coefficient c of the damperd。
Step 1.3: the central control unit sums the air spring force and the damping force required by the whole vehicle to obtain the target suspension force F required by the whole vehicle1。
F1＝Fs+Fd
Step 2: constructing a vehicle height intelligent agent, an interconnection intelligent agent and a damping intelligent agent, and distributing target suspension force according to the action cost of the vehicle height intelligent agent, the interconnection intelligent agent and the damping intelligent agent respectively; calculating the action cost J of the vehicle height agent, the interconnection agent and the damping agent respectively1、J2、J3. The method comprises the following specific steps:
step 2.1: according to the power E of the electromagnetic valve for charging and discharging air of the vehicle heightHCalculating the action cost J of the intelligent vehicle height body1。
In the formula, tciAnd tdiRespectively representing the charging and discharging time of a vehicle height electromagnetic valve; and i belongs to {1, 2, 3, 4} to refer to the air charging and discharging pipelines of the air spring at four positions of front left, front right, rear left and rear right.
Step 2.2: according to the power E of the interconnected solenoid valvesICalculating the action cost J of the interconnected agent2。
In the formula, tiIndicating the opening time of the interconnected solenoid valves; and i belongs to {1, 2, 3, 4} to indicate the electromagnetic valves in the front, the rear, the left and the right interconnected pipelines.
Step 2.3: according to the supply voltage V of the adjustable damping vibration absorberDAnd current IDCalculating the action cost J of the damping intelligent agent3。
In the formula, TsRepresents the opening time of the damper; i ∈ {1, 2, 3, 4} refers to dampers at four positions front left, front right, rear left, and rear right.
Wherein, vehicle height intelligent agent cost J1Cost > interconnect agent J2Cost > damping agent J3(ii) a The higher the cost, the greater the suspension force that can be provided.
And step 3: based on the target suspension force, a cooperative working strategy of the vehicle height intelligent body, the interconnection intelligent body and the damping intelligent body is set, and working rules among the vehicle height intelligent body, the interconnection intelligent body and the damping intelligent body are determined according to the cooperative working strategy.
The cooperative working strategy is as follows:
step 3.1: according to the change of air spring inflation and deflation, the vehicle height adjusting mechanism has a vehicle height force FHIn an adjustment range A of：
ΔPHdiS0≤FH≤ΔPHciS0
Wherein, Δ PHdiAnd Δ PHciThe air pressure change values of the air spring caused by inflation and deflation are respectively.
Step 3.2: according to the change of air spring inflation and deflation, the interconnection force F of the interconnection adjusting mechanismIThe regulation range B of (1) is:
0≤FI≤ΔPIS0
wherein, Δ PIThe air pressure change value of the air charging and discharging air spring caused by interconnection.
Step 3.3: if the damping coefficient c is equal to [ c ∈ ]min cmax]For the entire adjustable damping vibration absorber system, the damping force F of the adjustable damping vibration absorberDThe regulation range C is as follows:
cminfd≤FD≤cmaxfd
wherein f isdFor the running stroke of the vehicle suspension, cmin cmaxRespectively the minimum and maximum values of the damping coefficient.
Step 3.4: when the target suspension force F is as shown in FIG. 21When exceeding vehicle height adjustment mechanism's control range A, each suspension power output mechanism can not undertake alone, and three intelligent agent all open this moment, and action cost (energy consumption) ratio under the current operating mode of each is according to exports the suspension power jointly in order to reach whole car demand.
Step 3.5: when target suspension force F1The size of the suspension force is within the adjusting range A of the vehicle height adjusting mechanism, and the requirement of the suspension force can be met only by adjusting the vehicle height. At the moment, the interconnected intelligent bodies and the damping intelligent bodies are closed, only the vehicle height intelligent body is opened, and the vehicle height adjusting mechanism is adjusted to output the suspension force independently.
Step 3.6: when target suspension force F1And reducing the adjustment range to the adjustment range B of the interconnection adjusting mechanism. At the moment, the vehicle height intelligent body is closed, the interconnection intelligent body and the damping intelligent body are opened, and the suspension force is output according to the action cost (energy consumption) ratio of the interconnection intelligent body and the damping intelligent body under the current working condition.
Step 3.7: when target suspension force F1When the damping force is further reduced to the adjusting range C of the adjustable damping shock absorber, the requirement of the suspension force can be met only by adjusting the damping force. At the moment, the vehicle height intelligent body and the interconnected intelligent body are closed, only the damping intelligent body is opened, and the adjustable damping shock absorber is independently adjusted to output the suspension force.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (10)
1. An interconnected air suspension cooperative control system based on multiple intelligent agents is characterized by comprising an information acquisition unit, a central control unit, a vehicle height intelligent agent, interconnected intelligent agents, a damping intelligent agent and suspension force output mechanisms corresponding to the three intelligent agents; the information acquisition unit is used for acquiring basic information of the vehicle and inputting the basic information into the central control unit, and the central control unit calculates the target suspension force F of the whole vehicle in the current state according to the information acquired by the information acquisition unit1(ii) a The action cost of the vehicle height intelligent body, the interconnection intelligent body and the damping intelligent body distributes target suspension force, the high intelligent body, the interconnection intelligent body and the damping intelligent body correspondingly output control commands to the vehicle height adjusting mechanism, the interconnection adjusting mechanism and the adjustable damping shock absorber, the vehicle height adjusting mechanism, the interconnection adjusting mechanism and the adjustable damping shock absorber receive the corresponding control commands and execute actions, the three suspension force output mechanisms distribute and output the target suspension force, and the suspension force output by the system is fed back to act on the whole vehicle.
2. The interconnected air suspension cooperative control system based on multiple intelligent agents as claimed in claim 1, wherein the vehicle height intelligent agent, the interconnected intelligent agent and the damping intelligent agent determine the working start and stop of the intelligent agent according to a cooperative working strategy, and control three suspension force output mechanisms to distribute and output target suspension force.
3. The multi-agent based interconnected air suspension cooperative control system as claimed in claim 1, wherein the information collection unit comprises an air pressure sensor and a speed sensor, the air pressure sensor is used for measuring the internal air pressure of the air spring when being excited by the road surface; the speed sensor is used for measuring the sprung mass speed and the unsprung mass speed of the whole vehicle.
4. An interconnected air suspension cooperative control method based on multiple intelligent agents is characterized by comprising the following steps:
step 1: calculating and outputting the target suspension force F of the whole vehicle in the current state according to the information acquired by the information acquisition unit1；
Step 2: constructing a vehicle height intelligent agent, an interconnection intelligent agent and a damping intelligent agent, and respectively calculating the action cost J of the vehicle height intelligent agent, the interconnection intelligent agent and the damping intelligent agent1、J2、J3；
And step 3: based on the target suspension force, a cooperative working strategy of the vehicle height intelligent body, the interconnection intelligent body and the damping intelligent body is set, and working rules among the vehicle height intelligent body, the interconnection intelligent body and the damping intelligent body are determined according to the cooperative working strategy.
5. The multi-agent-based interconnected air suspension cooperative control method as claimed in claim 4, wherein the working rules among the agents based on the cooperative working strategy are as follows:
step 3.1: according to the change of air spring inflation and deflation, the vehicle height force F of the vehicle height adjusting mechanism is setHThe regulation range A is as follows:
ΔPHdiS0≤FH≤ΔPHciS0
wherein, Δ PHdiAnd Δ PHciThe air pressure change values of the air spring caused by inflation and deflation are respectively; s0Is the effective area of the air spring;
step 3.2: setting the interconnection force F of the interconnection adjusting mechanism according to the change of the air spring inflation and deflationIThe regulation range B of (1) is:
0≤FI≤ΔPIS0
wherein, Δ PIThe air pressure change value of the air charging and discharging air spring caused by interconnection is obtained;
step 3.3: if the damping coefficient c is lower than the set damping coefficient, setting the damping force F of the adjustable damping shock absorber for the whole adjustable damping shock absorber systemDThe regulation range C is as follows:
cminfd≤FD≤cmaxfd
wherein f isdFor the dynamic travel of the vehicle suspension, c ∈ [ c ]min cmax]，cmin cmaxThe minimum and maximum values of the damping coefficient, respectively;
step 3.4: when target suspension force F1When the adjustment range A of the vehicle height adjusting mechanism is exceeded, each suspension force output mechanism cannot bear the load independently, at the moment, the three intelligent bodies are all started, and the suspension force is output together according to the action cost ratio under the current working condition of each intelligent body so as to meet the requirement of the whole vehicle;
step 3.5: when target suspension force F1The magnitude of the suspension force is within the adjusting range A of the vehicle height adjusting mechanism, the suspension force requirement can be met only by adjusting the vehicle height, at the moment, the interconnected intelligent body and the damping intelligent body are closed, only the vehicle height intelligent body is opened, and the vehicle height adjusting mechanism is adjusted to independently output the suspension force;
step 3.6: when target suspension force F1When the adjustment range B of the interconnection adjusting mechanism is reduced, the vehicle height intelligent body is closed, the interconnection intelligent body and the damping intelligent body are opened, and the suspension force is output according to the action cost ratio of the interconnection intelligent body and the damping intelligent body under the current working condition;
step 3.7: when target suspension force F1When the damping force is further reduced to the adjusting range C of the adjustable damping shock absorber, the requirement of the suspension force can be met only by adjusting the damping force. At the moment, the vehicle height intelligent body and the interconnected intelligent body are closed, only the damping intelligent body is opened, and the adjustable damping vibration attenuation is independently adjustedThe machine outputs a suspension force.
6. The multi-agent-based interconnected air suspension cooperative control method as claimed in claim 4, wherein the action cost J of the vehicle-height agent1Expressed as:
wherein, tciAnd tdiRespectively representing the charging and discharging time of a vehicle height electromagnetic valve; i is left to {1, 2, 3, 4} refers to the air charging and discharging pipelines of the air spring at the four positions of front left, front right, back left and back right, EHAnd the power of the high charging and discharging electromagnetic valve of the vehicle is shown.
7. The multi-agent-based interconnected air suspension cooperative control method as claimed in claim 4, wherein the action cost J of interconnected agents2Expressed as:
wherein, tiIndicating the opening time of the interconnected solenoid valves; i belongs to {1, 2, 3, 4} to indicate four electromagnetic valves in the front, back, left and right interconnected pipelines, EIRepresenting the power of the interconnected solenoid valves.
8. The multi-agent-based interconnected air suspension cooperative control method as claimed in claim 4, wherein the action cost J of the damping agent3Expressed as:
wherein, TsRepresents the opening time of the damper; i is left-front and right-frontRear left and rear right dampers, VDAnd IDRespectively representing the supply voltage and current of the adjustable damping shock absorber.
9. The multi-agent-based interconnected air suspension cooperative control method as claimed in claim 4, wherein the information collected by the information collection unit comprises: air pressure P inside air springiSprung mass velocity
And unsprung mass velocity
10. The multi-agent-based interconnected air suspension cooperative control method as claimed in claim 9, wherein the target suspension force F in the current state of the whole vehicle is calculated1The method comprises the following steps:
based on the internal pressure P of the air springiAnd effective area S of air spring0Calculating to obtain the air spring force required by the whole vehicle: fs＝Pi×S0；
Based on sprung mass velocity
Unsprung mass velocity
And calculating the damping coefficient c of the damper to obtain the damping force required by the whole vehicle:
target suspension force required for the entire vehicle: f1＝Fs+Fd。
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