Articulated vehicle rollover detection and active control based on center of gravity position metric

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-10-04 DOI:10.1177/09596518231196901

Kuo Yang, Xinhui Liu, Bingwei Cao, Wei Chen, Peng Tan, Xin Cheng

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引用次数: 0

Abstract

In this study, the adaptive adjustment technology, based on an Attitude and Heading Reference System, is applied to loaders, aiming to improve the rollover protection performance of articulated engineering vehicles. A dynamic rollover stability index for loaders is developed, coupling the roll angular velocity and the slope and height of the center of gravity. A nonlinear predictive model of the material weight is built, in order to attain the height of the center of gravity. An adaptive attitude adjustment system is proposed, totally based on electro-hydraulic proportional control technology, to adjust the attitude of the working system, so as to achieve a higher threshold value of the vehicle’s anti-tip performance. Finally, the rollover stability index and control methods, as proposed in this article, are validated using experiments. The boundary values that trigger the system’s operation are reduced to ensure safety, while the validation results prove that the proposed method is effective.

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基于重心位置度量的铰接车辆侧翻检测与主动控制

本文将基于姿态和航向参考系统的自适应调整技术应用于装载机，旨在提高铰接式工程车辆的侧翻防护性能。建立了装载机横摇角速度与重心坡度、重心高度耦合的动态侧翻稳定性指标。建立了物料重量的非线性预测模型，以求得物料的重心高度。提出了一种完全基于电液比例控制技术的自适应姿态调整系统，对工作系统的姿态进行调整，以达到更高的车辆抗尖性能阈值。最后，通过实验验证了本文提出的侧翻稳定性指标和控制方法。为了保证安全，减少了触发系统运行的边界值，验证结果证明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.