Using gyro stabilizer for active anti-rollover control of articulated wheeled loader vehicles

作者：Xiaoyu Zhang, Qianjie Liu, Jun Liu, Qingyuan Zhu, Huosheng Hu · 发表于：Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering · 年份：2020 · DOI：10.1177/0959651820937114 · 被引用次数：12 · 研究领域：Vehicle Dynamics and Control Systems、Control and Dynamics of Mobile Robots、Vibration Control and Rheological Fluids

Articulated wheeled loader vehicles have frequent rollover accidents as they operate in the complex outdoor environments. This article proposes an active anti-rollover control method based on a set of single-frame control moment gyro stabilizer installed on the rear body of the vehicle. The rollover dynamic model is first established for articulated wheeled loader vehicle with gyro stabilizer. The proposed control strategy is then applied in simulation to verify the rollover control effect on the vehicle under steady-state circumferential conditions. Finally, a home-built articulated wheel loader vehicle with gyro stabilizer is used to further verify the proposed control strategy. The results show that the vehicle can quickly return to the stable driving state and effectively avoid the vehicle rollover when a suitable anti-roll control moment can be provided by the gyro stabilizer. As a result, the articulated wheeled loader vehicle is able to operate safely in a complex outdoor environment.