Research On Integrated Control Strategy For Anti Rollover Of Emergency Rescue Vehicles

Emergency rescue vehicles often have rollover accidents during emergency rescue driving.The emergency rescue vehicle with active suspension system and multi-axle steering system can improve the ride comfort and rollover stability of the vehicle under complex road conditions by adjusting the body posture and lateral movement in real time.This paper aims at improving the rollover stability of emergency rescue vehicles,and studies the integrated control strategy of anti-rollover for active suspension system and multi-axle steering system.In this paper,the 11-DOF coupling dynamic model of the steering system and the active suspension system of the three-axle emergency rescue vehicle is established,the rollover index used for tripping and non-tripping rollover is constructed,and an active suspension rollover control strategy is proposed to adjust the body roll angle and roll acceleration,and an active suspension H_∞/generalized H₂ output feedback controller is designed.Secondly,a multi-axis steering LQR controller based on lateral load transfer rate and centroid sideslip angle is designed,and the weight coefficients of the controller are switched using low-speed and medium-high speed steering control strategies,and the controller parameters are optimized using particle swarm optimization algorithm.Thirdly,an anti-roll control strategy integrating active suspension system and multi-axle steering system is proposed,and the upper coordination fuzzy controller is designed.The simulation results show that the integrated control can effectively improve the vehicle rollover stability.Finally,based on the three-axis emergency rescue vehicle test platform,the whole vehicle integrated control strategy is tested.The test results show that compared with the existing active suspension separate control strategy,the peak lateral load transfer rate,the peak body roll angle and the root-mean-square value of the roll angle acceleration of the vehicle under integrated control are reduced by 11%,21%and 20.8%respectively,which improves the anti-rollover ability of the emergency rescue vehicle,and verifies the effectiveness of the anti-rollover integrated control strategy in this paper.