Anti-rollover control of heavy-duty dump truck with distributed model predictive control

摘要

Heavy-duty dump trucks easily roll over under extreme steering conditions. To solve this problem, this paper proposes an anti-rollover controller to improve the driving stability of heavy-duty dump trucks. A nine-degree- freedom dynamic model of heavy-duty dump trucks was established. Considering the output constraint characteristics of the active suspension actuator, an active suspension control method based on distributed model predictive control (DMPC) is given. In this method, the high-dimensional vehicle system is split into multiple low-dimensional suspension control subsystems, and a separate model predictive controller for each subsystem is designed. With the improved lateral load-transfer rate (LTR) as the rollover evaluation index, additional active suspension force is provided for the vehicle through active suspension control to improve driving stability. With the co-simulation of MATLAB/Simulink and Trucksim, the simulation verification is carried out under fishhook and J-turn conditions. The results show that the designed anti-rollover control method based on DMPC can effectively inhibit the vehicle rollover.

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