Research On Active Safety Control Of Articulated Steering Engineering Vehicles Based On Rolling Torque Control

Articulated steering engineering vehicles are widely used due to their advantages such as small turning radius,high working efficiency,and good maneuverability,but they are characterized by variable structure,variable load,and deteriorating center,and they often operate on non-structural roads,resulting in poor stability.Rollover occurred frequently.Passive protection represented by Rollover Protection Structure(ROPS)cannot fundamentally solve problems,and achieving its instability warning and active safety control is the most effective method.In this paper,according to the structural characteristics and instability law of articulated steering vehicles,the instability early warning reference model is established,the rollover instability warning algorithm is studied,and the active safety based on single frame control moment gyro mechanism is developed according to the precession effect of gyro.Control Method.The specific work of the paper is as follows:(1)A pre-warning reference model of the articulated steering vehicle with rollover and yaw is considered.The structural characteristics of the body of the articulated steering vehicle and the lateral instability process are analyzed,and a four-degree-of-freedom instability early warning reference model for the articulated steering vehicle with rollover and yaw is established by using the second type equation of Langeland.The physical prototype model test was used to verify the correctness of the instability early warning reference model.(2)Completed the instability warning algorithm for articulated steering vehicles based on the dynamic threshold of TTR.Using the instability pre-warning reference model established in the previous section,the steady state margin angle is selected as the critical instability judgment index,and an instability warning algorithm based on the dynamic threshold value of TTR is established.The rollover warning control is designed and developed from the software level and the hardware level.The device,using low-speed and high-speed uniform circular motion conditions,verifies the accuracy and real-time performance of the early warning algorithm.(3)An active safety control method based on a single frame control moment gyro is completed.Based on the virtual prototype technology and the modular design concept,a single-frame control moment gyro mechanism was designed and developed,and a dynamic model including a single-frame control moment gyro mechanism and an articulated steering engineering vehicle system was established.An anti-rollover control algorithm based on TTR rollover warning was developed.The optimal additional roll moment was obtained by using LMI robust control method.Simulation analysis was performed in MATLAB to verify the effectiveness of the control algorithm.Finally,an experimental platform for active safety control of articulated steering vehicles was built.It was verified on the physical prototype locomotive that the rollover early warning controller can effectively perform warnings for the side turn of the articulated steering vehicle and alert the driver to do so with a light alarm device.Avoid rollover accidents.In summary,this article mainly studies the instability warning algorithm and active safety control method for articulated steering vehicles,and increases the stability and safety of articulated steering vehicles.