Research On Stability And Anti-Rollover Control Of Mixing Truck Considering The Dynamic Change Of Mass Center Of Mixing Drum

Under the turning condition,the mixer is more likely to roll over due to the combined action of the rotation of the mixing cylinder and the centrifugal force in the turning.To solve this problem,a 6×2 mixer was selected as the research object in this paper.A multi-body dynamics vehicle model of ADAMS was established to study the dynamic center of mass of the mixer cylinder.The influence of dynamic operation of the full load of the mixer cylinder on the roll-over stability of the mixer was explored.In order to improve the rollover stability of agitator,a new anti-rollover control strategy was proposed.The main research contents are as follows:(1)Explore the change rule of the dynamic center of mass of the mixing cylinder,and study and analyze its influence on the mixing vehicle.Different from the variation law of the center of mass position of the stirring cylinder derived from the pure kinematics theory in the past,this paper firstly studied the variation law of the dynamic center of mass of the stirring cylinder based on the discrete element method.Then,the relationship between the centroid deviation and the supporting force of the agitator cylinder was established,which laid the foundation for analyzing the influence of the dynamic centroid of the agitator cylinder on the rollover stability of the agitator truck and studying the related anti-rollover control strategy.(2)Establishment of a multi-body dynamics vehicle model of the mixer considering the change of the dynamic center of mass of the mixer cylinder.Based on the mathematical models of mixing tube dynamic center of mass,according to the relevant data of concrete truck mixer,this paper established the mixers multibody dynamics vehicle model and verify its accuracy,analysis of mixers with and without mixing drum mixing barrel dynamic centroid affect dynamic variation of related parameters in center of mass effect,in order to get two different cases,the stability of the mixers,at the same time,further verified the model of mass center of the vehicle model and the mixing barrel dynamic accuracy.(3)Research on anti-rollover control strategy of agitator.In this paper,the traditional particle swarm optimization algorithm is improved,so that the improved particle swarm optimization algorithm on the one hand to ensure the accuracy of the optimization results,on the other hand to further improve the optimization speed of the algorithm;A parameter self-tuning PID controller based on improved particle swarm optimization(PSA)was proposed to implement the anti-roll-over control of the agitator by applying differential braking and yaw moment.(4)The construction and test of the anti-rollover control joint simulation system of the mixer truck.The anti-rollover control system is built in the Simulink module of MATLAB software and co-simulated with ADAMS,mainly for three cases:no anti-rollover control,traditional PID anti-rollover control method,and improved PID anti-rollover control method is added.Simulation analysis is carried out to verify the effectiveness of the antirollover control strategy proposed in this paper.Research shows that the parameter self-tuning PID algorithm fused with the improved particle swarm algorithm has reduced the number of iterative optimizations by 33.3%compared with the traditional particle swarm algorithm,and can find the optimal control parameters of the controller more quickly;The steering wheel angle step input test and the fishhook steering input(Fishhook)test verify the effectiveness of the proposed anti-rollover control strategy.The results show that the anti-rollover control strategy proposed in this paper can more effectively prevent the mixer truck from rolling over.The occurrence of accidents improves the rollover stability of the mixer truck.