The Rollover Performance Research Of Active Suspension System On BZT-1000 Transporting Bridge Vehicle

Self-propelled modular transporter(SPMT for short), for its flexible characteristics, convenient loading and unloading, is wildly used in the fields of Oil & Gas, equipment manufacturing, marine engineering, bridge construction, and etc. to provide the reliable transport solution for overweight, oversize, overlength super structure cargoes. But the consequence is incalculable if there is a rollover accident during the process of overload transportation. Therefore, study on the performance of anti-rollover for SPMT is of great realistic significance. In this paper, basing on the achievements at home and abroad, the anti-rollover performances are researched, from two ways of active suspension anti-rollover technology and anti-rollover control algorithm, taken the transporting bridge vehicle of BZT-1000 t as the study object.Suspension hydraulic system for the transporting bridge vehicle was designed, and the fluid models were established under the environment of software AMESim. Then, the synchronous control performance was analyzed by simulation. Compared with the traditional synchronous control system with flow divider-combiner, the synchronous control performance of the system designed was improved significantly.The structure of the active suspension hydraulic system was designed, with a four freedom degrees and single axis model as the anti-rollover model for single transporting bridge vehicle, and the dynamics differential equation and state equation were established. Meanwhile, dynamical model of the active suspension system was built on the ADAMS/View software platform, and the anti-rollover performance was analyzed.With the advanced control theory, the fuzzy PID controller was designed, and the control model was built on MATLAB/Simulink platform. The integrated simulation models of single vehicle full-load and two vehicles parallel were built separately, and the control performance of the controller designed was analyzed by integrated simulation.Comparing the on-site data with the mechatronic and hydraulic integrated simulation results, it is clear that the anti-rollover performance can be improved effectively by using fuzzy PID control system and active suspension anti-rollover technology. And the influences of the distance between two vehicles on the transverse accommodate ability and load-carrying safe areas were analyzed. It shows that a proper distance between the vehicles can improve the anti-rollover performances.