内容：
 针对纯电动汽车电液复合制动系统电机再生制动力与液压制动力动态响应特性的差异及其非线性特性问题,提出了一种基于Agent的电液复合制动防抱死控制方法.构建了由电机Agent、液压制动Agent和ABSAgent组成的复合制动系统,依据让步策略、竞争策略和协同策略对电机再生制动力和液压制动力协调分配.MATLAB/Simulink仿真结果表明:紧急制动状态下,各Agent间能有效协作,前轮始终先于后轮进入抱死趋势,复合制动系统可以准确识别路面附着系数变化并及时调整电机制动力与液压制动力,提高了制动稳定性与系统的自适应能力. Aiming at the difference and the nonlinear characteristic of the regenerative braking force and the dynamic response of the hydraulic braking force of the electro-hydraulic compound braking system of pure electric vehicle, an anti-lock control method of electro-hydraulic compound brake based on Agent is proposed. The combined braking system composed of motor agent, hydraulic brake agent and ABSAgent is allocated according to the concession strategy, the competitive strategy and the cooperative strategy to the regenerative braking force and hydraulic braking force of the motor.MATLAB / Simulink simulation results show that under the emergency braking state , The agent can effectively cooperate, the front wheel is always ahead of the rear wheel into the lockout trend, the composite braking system can accurately identify the road surface adhesion coefficient changes and timely adjustment of the motor braking force and hydraulic braking force, improve the braking stability and system The ability to adapt.

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