Anti-rollover Control System Design of Articulated Off-road Vehicles

Abstract

This paper designs an anti-rollover control system to improve articulated off-road vehicle rollover safety. This controller consists two level control which target to two different instability stages: 1) the active swing bridge adjustment control algorithm for the first stage instability; and 2) the active braking control algorithm for the second stage instability. The first level control is based on fuzzy PID control and second is based on switch control, they work together to prevent the articulated wheel loader from rollover accident. Multi-body dynamics model of a ZL50 articulated wheel loader is built by commercial software RecurDyn, and the MBD model and controller model were co-simulated under the same solver in RecurDyn/CoLink. The co-simulation results show that, during the high speed steering rollover process, these two level controller work efficiently to reduce the roll angle and improve the vehicle rollover stability.