Research On The Anti-rollover Control System For Hazardous Chemicals Transporter On Ramp

As the demand for hazardous chemicals and its auxiliary products continues to increase,the safety of hazardous chemicals in road transportation has attracted the attention of many scholars.In order to ensure the safe driving of hazardous chemical transportation vehicles,the safety assisted driving technology has become a research hotspot and advanced technology.At the same time,ramps are complicated curve road sections,hazardous chemicals transportation vehicles are prone to roll over on ramps,which make ramps are accident prone sections with a lot of accidents.Many scholars have carried out in-depth researches on the safety control of hazardous chemical transport vehicles on ramp,and have made some technological achievements.However,there are still some points needed to be improved.In this paper,based on the characteristics of hazardous chemical transports and ramp alignment,the accident types and main causes are analyzed,and the driving safe control system of hazardous chemical transport vehicles is designed.This system includes ramp safe speed model,ramp geometric parameters acquisition method and the segmented anti-rollover control system.This provides help to solve the safety of hazardous transports driving on ramps.Aiming at the research on safe speed of ramps,this paper considers the influences of the ramp curvature radius,horizontal slope and vertical slope,and also considers the influences of parameters of hazardous chemical transport vehicles,and builds the ramp safe speed model.This model is more consistent with the actual working environment and conditions of hazardous chemical transport vehicles than the existing safe speed models.The safe speed model is also suitable for the safety control of other vehicles on curves.The vehicle parameters can be obtained directly from the vehicle configuration and load mass,and the ramp alignment characteristics are mainly obtained by image recognition technology.At the ramp of the Nanjing Liuhe mountain North Overpass in G40,there was a liquefied gas transport vehicle that rolled over due to improper speed control.Taking this accident ramp as an example,an acquisition method based on image recognition technology is proposed,which can extract ramp curvature radius,horizontal slope and vertical slope at one time.Canny algorithm is used to extract and fit the lane line,and the ramp curvature radius is calculated.According to the projection of ramp road surface under the influence of ramp horizontal slope,the ramp horizontal slope can be calculated.The relation between the vanishing point of the road and the vanishing point of the ramp is used to obtain the ramp vertical slope.In addition,according to the ramp alignment characteristics,a segmented anti-rollover control system is designed.This article divides the ramp into entrance,turning and exit sections,and adopts different control systems by category based on the ramp alignment and driving speed requirements.Among them,the entrance section adopts PID control system,the turning section adopts adaptive PID control system based on single neuron,and the exit section adopts sliding mode control system.Experimental results show that,the segmented anti-rollover control system can better realize the rapid response and precise control.Taking the accident hazardous chemicals transport vehicle as an example,based on Matlab/Simulink software,mathematical models of the hazardous chemical transport vehicle and ramp are constructed,and simulation experiments are performed on the segmented rollover control system.The experimental results show that different control methods are adopted according to the characteristics of different road sections,and the experimental speed does not exceed the ramp safe speed threshold,and the actual speed change trend approaches the ramp safe speed change trend,which can effectively avoid rollover accidents of hazardous chemicals transport vehicles.The ramp safe control experiments are also carried out with hazardous chemical vehicle model.Based on 51 single-chip welding control circuit,and using segmented anti-rollover control system for safe speed control experiments.The experimental results of vehicle model show that the segmented anti-rollover control system can control the driving speed of the vehicle model within the safety threshold.When the driving speed of vehicle model is less than the safety threshold,the vehicle model does not roll over.However,when the driving speed of vehicle model is greater than the safety threshold,the vehicle model rolls over.Based on the ramp safe speed model proposed,the results of simulation and vehicle model experiments show that,the use of the segmented anti-rollover control system to control the driving speed in sections,and can effectively avoid rollover accidents of hazardous chemical transport vehicles as well.These provide technical guarantee for the safe transportation of hazardous chemicals.