Sliding mode control for overturning prevention and hardware-in-loop experiment of heavy-duty vehicles based on dynamical load transfer ratio prediction

Lu, Yongjie; Han, Yinfeng; Huang, Weihong; Wang, Yang

doi:10.1177/14644193211057972

Cited by 4 publications

(4 citation statements)

References 32 publications

(31 reference statements)

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“…Load Transfer Ratio (LTR), as a common roll index for evaluating the vehicle roll motion, 20,21 As demonstrated in Figure 15(a), the correlation between LTR and roll angle is consistent under both v x = 3 m/s and v x = 5 m/s turning conditions, indicating that LTR is an appropriate metric for evaluating the lateral stability of counterbalance forklift trucks. In contrast, when the speed is 8 m/s, significant fluctuations in LTR are observed, which are attributed to the variation of the roll axle in the third stage.…”

Section: Index Of Lateral Stabilitymentioning

confidence: 97%

See 1 more Smart Citation

Roll dynamic model and steering stability analysis of the counterbalance forklift truck with considering hierarchical rollover

Zhang

Xia

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part D:

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The dynamic model of a counterbalance forklift truck is established, and the validations under various operational conditions are studied. The roll motion of the counterbalance forklift is expressed by four degrees of freedom with consideration given to the independent roll motion between the body and chassis, the variation of the roll axis, and the contact between the body limit block and rear axle. Furthermore, testing under turning on firm ground and driving over obstacle conditions are conducted for verifying the dynamic response characteristic of the established model. In addition, numerical simulations are performed to investigate the effect of forklift structural parameters and road roughness excitation on the roll dynamics of forklifts. Finally, the rationality of evaluating the forklift roll state by load transfer ratio (LTR) is discussed. Simulation results are well in harmony with experiment results, suggesting that the proposed dynamic model can be an effective tool for stability analysis of counterbalance forklift trucks. This work provides theoretical foundations for the development of improved anti-rollover control, ultimately leading to enhanced stability and safety of forklifts.

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Section: Index Of Lateral Stabilitymentioning

confidence: 97%

“…Load Transfer Ratio (LTR), as a common roll index for evaluating the vehicle roll motion, 20,21 can characterize the extent of load transfer in the vehicle roll motion through the normal force of four tires. Therefore, the comparison of LTR under turning and traveling over bumps conditions is shown in Figure 15.…”

Section: Index Of Lateral Stabilitymentioning

confidence: 99%

Roll dynamic model and steering stability analysis of the counterbalance forklift truck with considering hierarchical rollover

Zhang

Xia

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…Wang [39] proposed a differential braking control scheme based on tire-force-distribution rules. Some scholars have studied the anti-rollover control of vehicles by using sliding-mode control or a multi-control fusion strategy [40][41][42][43][44]. These studies provide the ability to solve the rollover control problem of heavy vehicles at the bottom layer.…”

Section: Introductionmentioning

confidence: 99%

Anti-Rollover Control and HIL Verification for an Independently Driven Heavy Vehicle Based on Improved LTR

Zheng

Lu²,

Li³

et al. 2023

Machines

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The rollover evaluation index provides an important threshold basis for the anti-rollover control system of vehicle. Regarding the rollover risk of independently driven heavy-duty vehicles, a new rollover evaluation index is proposed, and the feasibility of the improved index was verified through hierarchical control and HIL (hardware-in-the-loop) experiments. Based on an 18-DOF spatial dynamics model of a heavy-duty vehicle, the improved LTR (load transfer rate) index was obtained to describe the dynamic change in the tire’s vertical load. It replaces the suspension force and the vertical inertia force of the unsprung load mass. It avoids the problem of directly measuring or estimating the vertical load in the LTR index. Under the conditions of fishhooking and angle stepping, three types of rollover indicators were compared, and the proposed index can more sensitively identify the likelihood of rollover. In order to apply the improved rollover index to a rollover control well, a hierarchical controller based on the identification of the slip rate of the road surface, ABS control with sliding mode, variable structure and differential braking was designed. Simulations and HIL tests proved that the designed controller can accurately predict the rollover risk and avoid the rollover in time. Under the condition of J-turning, the yaw rate, slip angle and maximum lateral acceleration are reduced by 9%, 16% and 3%, respectively; under the condition of fishhooking, the maximum yaw rate, slip angle and lateral acceleration are reduced by 12%, 18% and 3%, respectively.

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“…Some other methods to prevent the rollover phenomenon should be referenced as in Refs. 39,40 The above solutions can help improve the roll stability of cars, but their effect is not great because they cannot directly eliminate the main cause of this phenomenon. Therefore, more suitable alternatives are needed.…”

Section: Introductionmentioning

confidence: 99%

Proposing a novel fuzzy control algorithm for automotive active stabilizer bars based on views of roll stability and ride comfort

Nguyen

2023

Proceedings of the Institution of Mechanical Engineers, Part K:

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Using stabilizer bars in cars to limit rollover is a necessity applied to many vehicles today. In this article, the author proposes using a new fuzzy method to control the hydraulic stabilizer bars. Previous studies only focused on improving the roll stability of cars, while this article focuses on ensuring both the roll stability and ride comfort of the vehicle, which is considered the new contribution of the article. Vehicle oscillations are described through a complex nonlinear dynamic model. The MATLAB® application performs the simulation with two specific cases, including fish-hook steering and J-turn steering. According to the findings of this research, the roll angle value is significantly reduced when using active stabilizer bars directed by the novel algorithm. In addition, the risk of the rollover was also strongly reduced for both simulations (there are four-speed thresholds used in each case). For the first case, rollover does not occur when the car utilizes active stabilizer bars, even when travelling at v4 = 100 (km/h). In the other case, the rollover occurs only for the Active situation when travelling at a very high speed. In contrast, this phenomenon occurs in the None situation at v1 and the Passive situation at v2. The results found from this work help to evaluate the performance of the fuzzy control algorithm for active stabilizer bars.

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Sliding mode control for overturning prevention and hardware-in-loop experiment of heavy-duty vehicles based on dynamical load transfer ratio prediction

Cited by 4 publications

References 32 publications

Roll dynamic model and steering stability analysis of the counterbalance forklift truck with considering hierarchical rollover

Roll dynamic model and steering stability analysis of the counterbalance forklift truck with considering hierarchical rollover

Anti-Rollover Control and HIL Verification for an Independently Driven Heavy Vehicle Based on Improved LTR

Proposing a novel fuzzy control algorithm for automotive active stabilizer bars based on views of roll stability and ride comfort

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