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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.

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No abstract

In order to improve the rollover stability of heavy dump trucks during lifting and unloading under special circumstances and prevent heavy dump trucks from overturning, a sliding mode-robust control based on anti-rollover early warning control method for heavy dump trucks lifting and unloading was proposed. A four-degree-freedom heavy dump truck lifting and unloading roll dynamic model was established, and the accuracy of the model was verified in the MATLAB/Simulink simulation environment. The controller was designed by combining sliding mode robust control based on HJI theory and active suspension control. The ratio of the gravity carried by the wheel with the lighter bearing capacity to the total gravity of the heavy dump truck was used as the evaluation index for rollover warning. Under two different simulation conditions, compared with conventional sliding mode control and no control, the rollover evaluation index and roll angles were analyzed under three control methods. The results showed that the anti-rollover early warning control method for lifting and unloading of heavy dump trucks proposed in this paper had better anti-rollover capability and better stability.