Study on integrated control of tripping anti-rollover for heavy dump trucks

Abstract

In order to effectively solve the tripping rollover problem caused by heavy dump trucks on concave-convex roads, an integrated control method combining differential braking control and active suspension control is proposed. A nine-degree-of-freedom dynamic model for heavy dump trucks is established, and the lateral load transfer rate is used as the rollover evaluation index. The braking torque is provided for the four wheels by the method of differential braking control, and the active suspension control force is provided for the active suspension by the method of active suspension control to improve the roll stability and smoothness of the dump truck. The co-simulation of MATLAB/Simulink and Trucksim is carried out under the fishhook tripping condition and J-turn tripping condition. The simulation results show that, compared with active suspension control and differential braking control, the integrated control method proposed in this paper reduces the peak body roll angle by additional 4.505 deg and 0.182 deg under the fishhook tripping condition, and reduces the peak body roll angle by additional 2.21 deg and 0.077 deg under the J-turn tripping condition, which shows better rollover resistance. And the integrated control method reduces the pitch angular acceleration of the vehicle by additional 2.53 deg/s2 and 0.32 deg/s2 under the fishhook tripping condition, reduces the pitch angular acceleration of the vehicle by additional 0.73 deg/s2 and 0.30 deg/s2 under the J-turn tripping condition, which shows better ride comfort.