Integrated control of anti-rollover for high-mobility emergency rescue vehicles

Abstract

In this paper, an integrated anti-rollover control strategy is proposed to solve the rollover stability problem of emergency rescue vehicles. The integrated anti-rollover control is performed on the Active suspension system and the multi-axle steering system. Firstly, establish an eleven-degree-of-freedom coupled dynamic model for the vehicle; Secondly, the H∞/generalized H2 output feedback controller for Active suspension is designed, and the multi-axle steering LQR controller is designed; The upper level coordinated fuzzy controller is designed again, and the integrated control strategy of anti-rollover is used to integrate the Active suspension system and the multi-axle steering system. The test results show that, compared with the uncontrolled vehicle, the root mean square value of the lateral load transfer rate of the vehicle under integrated control decreased by 14.3%, 12%, and 10.9%; the root mean square values of lateral acceleration decreased by 26.8%, 22.8%, and 27.4%, respectively; the root mean square values of roll angle decreased by 27.7%, 25.2%, and 29.1%, respectively; respectively in the three-vehicle tests, and the proposed integrated control strategy for rollover prevention effectively improved the rollover prevention ability of emergency rescue vehicles.