Nonlinear dynamics modeling and rollover control of an off-road vehicle with mechanical elastic wheel
- 59 Downloads
Nonlinear dynamics modeling and rollover stability control are the indispensable parts of automotive active safety research, especially for the military off-road vehicle with some special demands. The nonlinearity of the vehicle model refers to the nonlinear tire characteristics. By simplifying the structure of non-pneumatic mechanical elastic wheel (ME-Wheel),the change of half long grounding mark, lateral distribution stiffness along with vertical load is studied, and the corresponding fitting model is established. Then, a corrected tire brush model is constructed and a longitudinal and lateral force expression is set up. Finally, a nonlinear 8-DOF vehicle model for an off-road vehicle with ME-Wheel was built up and an active suspension control system based on rollover prediction and Fuzzy proportional-integral-derivative (PID) is designed for rollover prevention, which utilizes a predictive load transfer ratio (PLTR) as the rollover index and the Fuzzy PID controller activates only when the potential for rollover is significant as measured by the PLTR. The effectiveness of proposed tire model and vehicle model are verified by virtual simulations and experiments. Simulation results during single lane-change and fishhook maneuvers show that the PLTR index can provide a time-advanced measure of rollover propensity and Fuzzy PID anti-rollover control algorithm based on PLTR index has better stability of roll than load transfer ratio index.
KeywordsVehicle dynamics Mechanical elastic wheel PLTR Rollover control Fuzzy PID
This work was supported by the National Natural Science Foundation of China (Grant No. 11672127), the Major Exploration Project of the General Armaments Department of China (Grant No. NHAl3002), the Postgraduate Research & Practice Innovation Program of Jiangsu Province (Grant No.KYCX17_0240), the Fundamental Research Funds for the Central Universities (Grant No. NP2016412). The author greatly appreciated the financial support.
Compliance with ethical standards
Conflict of interest
The authors report that no support from any organization for the submitted work; no financial relationships with any organizations that might have an interest in the submitted work in the previous 3 years; no other relationships or activities that could appear to have influenced the submitted work. The authors alone are responsible for the content and writing of the paper.
- 1.National Highway Traffic Safety Administration (2013) Traffic safety facts 2013: a compilation of motor vehicle crash data from the fatality analysis reporting system and the general estimates system. US Department of Transportation, Washington, DC, USAGoogle Scholar
- 2.Zhu Q, Ayalew B (2014) Predictive roll, handling and ride control of vehicles via active suspensions. In: American control conference. IEEE, pp 2102-2107Google Scholar
- 3.Zhao Y, Wang H, Li H (2016) Rollover propensity control via active suspension for off-road vehicle. In; International conference on mechanics design, manufacturing and automation (MDM2016), Suzhou, China, 14–15 May, 2016, pp 189-194Google Scholar
- 17.Bharali J, Buragohain M (2017) Design and performance analysis of Fuzzy LQR; fuzzy PID and LQR controller for active suspension system using 3 degree of Freedom quarter car model. In; IEEE international conference on power electronics, intelligent control and energy systems. IEEE, 2017Google Scholar
- 20.Cao J, Jing L, Guo K et al (2013) Study on integrated control of vehicle yaw and rollover stability using nonlinear prediction model. Math Probl Eng 1:27–53Google Scholar
- 22.Chen KJ, Guo XX, Pei XF (2016) Rollover warning of commercial vehicles based on multiple condition matching. China Mech Eng 27(20):2822–2827Google Scholar
- 25.Cao J, Jing L, Guo K et al (2013) Study on integrated control of vehicle yaw and rollover stability using nonlinear prediction model. Math Probl Eng 1:27–53Google Scholar
- 27.Day TD, Roberts SG, York AR (2001) SIMON: A new vehicle simulation model for vehicle design and safety research. SAE 2001 world congress. 2001-01-0503Google Scholar
- 28.Li B, Zhao YQ, Zang LG et al (2016) Driving force model for non-pneumatic elastic wheel. Trans Nanjing Univ Aeronaut Astronaut 33(2):231–236Google Scholar