Rollover Stability Analysis And Anti-Rollover Control Of Articulated Construction Vehicles

Articulated engineering vehicles have the advantages of small turning radius,good adhesion performance,strong carrying capacity,etc,and are widely used in various fields such as agriculture,industry and construction.However,it often operates on non-paved roads,and has the characteristics of variable structure,variable load,and changed center of mass,resulting in poor vehicle stability and frequent rollover accidents.The passive protection represented by Roll-Over Protective Structure cannot fundamentally solve the problem and cannot guarantee the driver's life safety.Therefore,it is necessary to study the active anti-rollover safety control technology of articulated engineering vehicles.First,a four-degree-of-freedom mathematical model of an articulated construction vehicle and an ADAMS virtual prototype model of a ZL50 loader are established in this paper,and the correctness of the model is verified.Then,based on the virtual prototype model,the influence of vehicle structure and motion parameters on its roll stability is analyzed.Finally,an anti-rollover early warning strategy suitable for articulated engineering vehicles is developed,and active anti-rollover control of articulated engineering vehicles under high-speed turning conditions is initially realized.The specific work of the paper is as follows.(1)According to the structural characteristics of articulated engineering vehicles,a Lagrangian second type equation is used to build a four-degree-of-freedom vehicle dynamic model that considers roll and yaw,and a ZL50 complete vehicle virtual prototype simulation is established in ADAMS model.Then,a simulation experiment of uniform circular motion is performed,and a four-degree-of-freedom mathematical model is solved in MATLAB.The roll angle and lateral acceleration curves obtained by simulation and solution of the virtual prototype model are compared to verify the correctness of the model.(2)Based on the ADAMS virtual prototype model,the instability process of the articulated engineering vehicle is introduced,and the impact of the vehicle's cornering speed,articulated turning angle,and articulated steering angular velocity on the roll stability of the vehicle is analyzed.The influence of the articulated structure of the vehicle,the following rear axle and the rigid suspension on the roll stability of the vehicle is briefly analyzed,and the instability law of the articulated engineering vehicle is summarized.(3)According to the analysis of rollover stability of articulated engineering vehicles,the vehicle speed is 11.5km/h as the boundary,and the roll angle of the vehicle is selected as the rollover judgment value at low speed conditions,and the vehicle speed is selected at high speed conditions.The size of the hinge angle is the rollover judgment value,and based on the selected judgment index,a rollover warning strategy based on TTR(vehicle rollover time)is formulated.Finally,a corresponding strategy is developed to actively control the rollover dangerous conditions that occur when the vehicle is turning at high speed.When a first-level instability occurs in the vehicle,a logic threshold strategy is designed to trigger the electric cylinder located on the rear axle to quickly move to the set stroke,prompting the vehicle body to stabilize quickly.If the vehicle speed continues to increase and secondary instability occurs,a fuzzy controller is designed to actively brake the vehicle to reduce the vehicle speed in time to avoid a rollover accident.In summary,this article mainly analyzes the rollover stability of articulated engineering vehicles,formulates a rollover warning strategy,and initially realizes the active anti-rollover control of articulated engineering vehicles under high-speed turning conditions,which effectively improves the articulated engineering Vehicle rollover stability has certain practical significance and engineering application value.