Nonlinear dynamics modeling and rollover control of an off-road vehicle with mechanical elastic wheel

Technical Paper


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.


Vehicle 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.


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Copyright information

© The Brazilian Society of Mechanical Sciences and Engineering 2018

Authors and Affiliations

  1. 1.College of Energy and Power EngineeringNanjing University of Aeronautics and AstronauticsNanjingChina

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