Research On Anti-Rollover Control Method Of Tank Truck Based On Hardware-in-the-Loop

As a common liquid transport vehicle,tank truck has the characteristics of large quality,high center of gravity,unstable and high risk of stowage.If the vehicle encounters external excitation when driving,the liquid centroid in tank is easy to change,which can reduce the driving stability of vehicle and worsely causes serious accidents,such as rollover.Due to the high risk of stowage,it is prone to cause the leakage of dangerous goods in the tank,leading to twice accidents.In the paper,the tank is assumed to be elliptical columnar.The computational model of liquid centroid in the tank and dynamic equation of tank truck considering the change of liquid centroid when turning are established,on the basis of which,rollover stability of tank truck is evaluated,and anti rollover control strategy of tank truck is designed,providing a reference for the research of tank truck rollover stability.The main work of the paper is as follows:(1)The mathematical expression of liquid surface curve on the elliptical cross section is derived through analyzing the liquid state in the tank and the moving state of tank truck when turning.The calculation model of the liquid centroid in the tank is established through the static moment method.The nonlinear dynamic model of tank truck considering the change of liquid centroid is established through analyzing lateral motion,longitudinal motion,roll motion,yaw motion and the rotation of four wheels.The correctness of the model is verified by the combined simulation of IPG/TruckMaker and MATLAB/Simulink.(2)The process of the roll and rollover of the tank truck under dangerous conditions are analyzed.Larteral load transfer ratio(LTR)is chosen as the rollover evaluation index of tank truck,and the lateral load transfer ratio computational model of tank tank on the effect of liquid centroid changing is established.Rollover safety threshold and rollover safety surface are obtained through the simulation of tank truck under different driving conditions.Based on the combined simulation model,the grey correlation analysis method is used to analyze the influence of different factors on the rollover of tank tank.(3)The anti rollover control algorithm of tank truck is designed by taking the deviation of lateral load transfer ratio as input and adopting fuzzy PID control method.Yaw moment distribution model is established through analyzing the yaw moment produced by braking forces of four wheels.The effectiveness of the control strategy is verified preliminarily using MATLAB/Simulink software.(4)The anti rollover control hardware-in-the-loop test system of tank truck is built based on dSPACE real-time simulation system.On the basis of the traditional pneumatic braking system,the electric proportional valve is added to control the pressure of every air chamber alonely.The hardware in the loop test method is designed to carry out the anti rollover control test of the tank truck with the steering transient response and the fishhook response.The test results are analyzed and are compared with off-line simulation results,which further verify the effectiveness of the control strategy.