Traditional controllers face difficulties in effectively controlling heavy-duty vehicles due to their large mass, high center of gravity, and delayed actuator response. This paper presents an adaptive model predictive control vehicle chassis integrated controller based on a rollover factor model established using the vehicle lateral transfer ratio. The state quantities used in the controller are the yaw rate, the sideslip angle, and the roll angle. The heavy-duty vehicle's anti-rollover performance can be improved by reasonably distributing the additional yaw moment and front steer angle. A virtual real-vehicle test environment and a real online joint simulation were constructed to verify the anti-rollover performance of the vehicle under double land conditions and variable curvature roads while generating additional yaw moment and front steer angle. Additionally, an anti-rollover Hardware-In-Loop test platform was built to ensure the stability and safety of heavy-duty vehicles under variable curvature curves.
Predictive Control Study of Active Anti-rollover Model for Heavy-duty Vehicles Considering Variable Curvature Curves
2024-05-24
1086837 byte
Conference paper
Electronic Resource
English
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