Research Of Coach’s Anti-rollover Based On Active Suspension Control

Coach is the major transportation means in our country’s highway passenger transport.Due to the large mass,high center-of-mass,relatively small wheelbase and other characteristics,coach is more prone to roll over than other vehicles.Due to the large number of passengers,coach rollover often leads to a large number of casualties.Therefore,anti-rollover technology of coach has gradually become a research hotspot in the field of automotive active safety.In this paper,coach rollover model is established based on Trucksim software,and the control methods of coach anti-rollover which is based on active suspension,are investigated.Two control strategies based on PID and fuzzy PID are established and their control effects are studied.The main research contents of this paper include:(1)The coach rollover model of three degree of freedom and four degree of freedom,as well as Trucksim,a dynamics simulation software,are introduced.Based on Trucksim,the rollover model of coach is established,which is simulated under the two operating conditions of the steering wheel angle step input and sinusoidal input.The rollover stability of the coach rollover model based on Trucksim is analyzed.(2)The lateral load transfer rate(LTR),as rollover index,was studied,and the rollover warning algorithm based on the lateral load transfer rate(LTR)is investigated.The co-simulation platform under Trucksim and Matlab/simulink is built.The co-simulation of the rollover warning algorithm and the Trucksim coach rollover model is carried out under the two operating conditions of the double lane change and the fishhook.Co-simulation results verify the effectiveness of the rollover warning algorithm.(3)The basic theories of PID control and fuzzy control are introduced.The coach anti-rollover control methods of PID and fuzzy PID based on active suspension are studied and the control strategies are proposed.The active suspension control force distributor is designed.(4)Combineing Trucksim coach rollover model with active suspension control strategy,the continuous and warning coach anti-rollover control-based models are established,and some co-simulations are carried out.The results show that the proposed control strategies of PID and fuzzy PID can effectively prevent the coach from rolling over and improve its driving stability.