Anti-Rollover Warning Control of Dump Truck Lifting Operation Based on Active Suspension
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Anti-Rollover Warning Control of Dump Truck Lifting Operation Based on Active Suspension Quguang Guan1
· Aihong Gong1 · Mingmao Hu1 · Ziwen Liao1 · Xin Chen1
Received: 9 June 2020 / Revised: 20 September 2020 / Accepted: 29 October 2020 © Brazilian Society for Automatics--SBA 2020
Abstract The flexible parts of the dump truck such as the suspension, tires and cargo box can affect the roll stability of the vehicle during the lifting process. In order to improve the adverse effects of these flexible parts on the roll stability of the dump truck during lifting, and to prevent the vehicle from rolling over, this paper proposes an anti-rollover warning control method based on active suspension. The nonlinear model of the lift and roll of the dump truck is established by considering the influence of elastic deformation of the tire, suspension, and torsional deformation of the cargo box on the roll of the vehicle, and dynamic characteristics of the nonlinear model are verified in the MATLAB/Simulink simulation environment. A fuzzy-PID controller is designed to make decisions on the active suspension control force as well as the ratio of the vertical load of the non-bearing wheel to the total weight of the vehicle is used as the rollover evaluation index to realize the rollover warning. Furthermore, the improvement effect of the control system is analyzed from the aspects of rollover evaluation index, roll angle and critical lifting angle. Finally, the simulation results show that the proposed method effectively improves the roll stability of the dump truck during the lifting operation and can widen the threshold range of the critical lift angle to a certain extent and prevent the vehicle from rolling over. Keywords Dump truck · Active suspension · Lifting operation roll stability · Fuzzy-PID · Simulation
1 Introduction Dump trucks have problems with lifting operations compared to other heavy commercial vehicles. When the dump truck unloads the cargo under uneven or eccentric load, the body structure is easily deformed and even a rollover accident occurs as the center of gravity increases (Wang et al. (2012); Si et al. (2012)). Therefore, it is necessary to analyze, calculate and test the vehicle roll condition to improve the ability of the dump truck to resist rollover. The roll model and stability analysis methods of dump trucks are developing in two directions. One is to use the modeling software to establish the rigid-flexible coupled virtual prototype model or directly use the actual prototype to test the vehicle on a special bracket, the second is to use mathematical modeling and calculation methods for research (Baryshnikov (2018)). The former requires the formation of
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Mingmao Hu [email protected] School of Mechanical Engineering, Hubei University of Automotive Technology, Shiyan 442002, China
complex test benches, while the latter requires the creation of complex mathematical models of trucks. Baryshnikov (2018) used mathematical modeling method to derive the dynamic model of the rigid dump truck lifting op
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