PID Control for Tripping and Rollover Prevention of Heavy-duty Dump Trucks Based on BWO Algorithm
In order to solve the problem of tripping and rollover of heavy-duty dump trucks during turn-ing,a four-degree-of-freedom dynamic model of the vehicle was established by considering the influ-ence of unsprung mass on vehicle rollover.A vehicle tripping and rollover prevention system based on proportional-integral-derivative(PID)differential braking control was designed.The roll angle error of the vehicle body was used as input,and the additional yaw moment was output by the PID controller.The braking moment was input to the TruckSim model through differential braking control.The beluga whale optimization algorithm was used to tune the PID parameters,and a simulation was conducted by MATLAB/Simulink and TruckSim in the joint simulation environment of fishhook/double lane steering and road excitation conditions.The experimental results show that the PID differential braking control can effectively prevent vehicle tripping and rollover,and the stability of the PID differential braking control optimized by the beluga whale optimization algorithm is better.
tripping and rollover preventionPID controldifferential brakingalgorithm optimizationjoint simulation
万方数据
维普
