Rollover Prevention Control Research Of Concrete Mixer Truck Based On Active Steering And Braking

In recent years, the affiliated industry of construction industry has developed rapidly with the rapid development of construction industry in our country. As the connection of the mixing station and the construction site, the number of the concrete mixer has also raised quickly. However, recent data show that the number of traffic accidents about the concrete mixer has been has been growing, Most accidents of these are due to rollover. The features of concrete mixer are the high centroid and the narrow wheel-base compared with the height of the concrete mixer. In addition, the concrete mixer is one of the urban transport vehicles, which has to turn to avoid pedestrians and vehicles in some emergency situations. As a result of these, the rollover of the concrete mixer is easy to occur. As the structure and the mechanism of the concrete mixer is special, the rollover of the concrete mixer is different from ordinary vehicles. Very few studies exist on Anti rollover control of the concrete mixer, and the automobile factory improve the structure of the concrete mixer only by the experience, so the research of the mixing truck rollover prevention is is of great practical value.The structure of mixer is different from ordinary heavy vehicles because of its special use. A mixing drum for stiring concrete is installed on the mixer. The mixing drum will keep rotating in order to prevent the concrete from segregation or coagulation. This paper studies the influence of the mixing drum rotation and the turning to the centroid of concrete.One concrete mixer produced by sinotruk is regarded as the object of study along all of this paper. Two and three degree of freedom dynamics models are established in this paper firstly. This paper research that the effect on the concrete mixer’s attitude in different additional angle of active steering through the three degree of freedom Simulink model. The result shows that the larger the additional angle is, the more stable the concrete mixer is. The results of active steering PID control confirms that active steering operates alone can prevent rollover commendably but change the route of the concrete mixer. If active steering and braking take effects at the same time, the concrete mixer can not only run stably and keep the desired route.Finally, Fuzzy self-tuning PID control is used to simulate whether the control can effect under various conditions. The results prove that fuzzy self-tuning PID control can effect better than PID and further verify that rollover of the concrete mixer can be controlled perfectly when the active steering and braking take effect at the same time. It also proves that the data and the model in this paper perfectly correct.