Research on anti-rollover warning control of heavy dump truck lifting based on sliding mode-robust control

Abstract

In order to improve the rollover stability of heavy dump trucks during lifting and unloading under special circumstances and prevent heavy dump trucks from overturning, a sliding mode-robust control based on anti-rollover early warning control method for heavy dump trucks lifting and unloading was proposed. A four-degree-freedom heavy dump truck lifting and unloading roll dynamic model was established, and the accuracy of the model was verified in the MATLAB/Simulink simulation environment. The controller was designed by combining sliding mode robust control based on HJI theory and active suspension control. The ratio of the gravity carried by the wheel with the lighter bearing capacity to the total gravity of the heavy dump truck was used as the evaluation index for rollover warning. Under two different simulation conditions, compared with conventional sliding mode control and no control, the rollover evaluation index and roll angles were analyzed under three control methods. The results showed that the anti-rollover early warning control method for lifting and unloading of heavy dump trucks proposed in this paper had better anti-rollover capability and better stability.