The invention discloses an active anti-rollover control method for a heavy commercial vehicle, and the method comprises the following steps: building a four-degree-of-freedom dynamic model of the heavy vehicle, and observing the ideal yaw velocity, the side slip angle, the sprung mass roll angle, the sprung mass roll angle velocity and the unsprung mass roll angle of the vehicle during operation; on the basis of a zero moment point theory, a point can be found on the ground in the side-tipping process of the vehicle, so that the sum of the gravity moment and the inertia moment of the vehicle is zero, a side-tipping index with a certain prediction effect is designed, and vehicle side-tipping is judged when the current state of the vehicle is greater than a threshold value; and the yaw moment and the roll moment required by rollover prevention are calculated based on the improved whale algorithm optimization fuzzy PID controller and then output to a brake and an active transverse stabilizer bar. Rollover is resisted through additional yawing moment generated by braking of a single-side wheel and roll-over moment generated by a roll-over prevention rod, so that the vehicle runs stably.

    本发明公开了一种重型商用车主动防侧翻控制方法,包括如下内容:建立重型车辆四自由度动力学模型,可以观测到车辆在运行中的理想横摆角速度、质心侧偏角、簧上质量侧倾角、簧上质量侧倾角速度和簧下质量侧倾角;基于零力矩点的理论,车辆在侧倾过程中能在地面找到一点使得车辆的重力力矩和惯性力矩的和力矩为零,由此设计一个具有一定预测作用的侧翻指标,并认为当车辆当前状态大于阈值时候判定为车辆侧翻;基于改进鲸鱼算法优化模糊PID控制器计算出防侧翻所需要的横摆力矩和侧倾力矩,然后输出给制动器和主动横向稳定杆。通过单侧车轮制动产生额外的横摆力矩和防侧倾杆产生的侧倾力矩来抵抗侧翻,使车辆平稳行驶。


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    Title :

    Active anti-rollover control method for heavy-duty commercial vehicle


    Additional title:

    一种重型商用车主动防侧翻控制方法


    Contributors:
    LYU HONGMING (author) / LIU TONGZHEN (author)

    Publication date :

    2024-11-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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