Research On Sliding Mode Control For Heavy Vehicle Anti-rollover Based On Kalman Filter Early Warning

Due to the characteristics of high center of mass and large volume of heavy duty vehicles,the lateral stability of heavy duty vehicles in the process of driving is poor,and dangerous accidents such as cartwheels are prone to occur during steering.Therefore,this paper takes the triaxial heavy duty vehicle as the research object,and mainly studies the rollover problem of the triaxial heavy duty vehicle during driving.This paper proposes a control algorithm which can predict the driving state of heavy duty vehicles in real time and modify the driving state of vehicles actively,so as to prevent the rolling of vehicles and improve the driving stability and safety of vehicles.In this paper,the three-degree-of-freedom dynamic model of three-axis heavy duty vehicle is firstly established,and the Kalman filter estimation algorithm is integrated with the vehicle model,and an algorithm that can predict the future dynamic Lateral Load Transfer Ratio(LTR)of the vehicle in real time based on the relevant motion parameters of the vehicle is proposed.Then,the safety threshold is set according to the predicted vehicle dynamics LTR,which provides a basis for triggering the vehicle anti-rollover control system.Secondly,the anti-rollaway control system built in this paper adopts the sliding mode variable structure controller combined with the ABS braking system to control the vehicle.The braking force on each tire of the vehicle is redistributed based on the principle of differential braking,so that the vehicle generates additional torque and corrects the driving state of the vehicle.In order to expand the adaptability of the vehicle to the road surface,the control precision of the model was improved.So that the vehicle can get a better ability to prevent rollover on most of the road surface,in the anti-rollover control algorithm to add the road recognition model.The ABS braking system can work under the optimal slip rate when braking on most roads,and the practicability and reliability of anti-roll control are improved.Finally,the Truck Sim-MATLAB/Simulink joint simulation was carried out toverify the prediction algorithm and the anti-rollover effect of the control algorithm.In Truck Sim,the three-axis heavy-duty vehicle dynamics model,experimental conditions and experimental road surface simulation model were built.A prediction and control model for anti-rollover of heavy-duty vehicle was built in MATLAB/Simulink,and the two models were co-simulated to test the established algorithm.The simulation results show that the anti-rollover predictive control algorithm proposed in this paper can effectively prevent vehicle rollover and significantly improve vehicle safety.At the same time,in order to further test the proposed heavy-duty vehicle anti-rollover predictive control algorithm and verify the hardware feasibility of the proposed algorithm,the hardware in-loop test was carried out on the three-axle heavy-duty vehicle electronic control comprehensive test laboratory.The experimental results show that the proposed control algorithm has good hardware control and can effectively predict and prevent the rollover of heavy vehicles.