Study on active torque controller for roll stability of high clearance vehicles
1. School of Mechanical ＆ Electrical Engineering, Shihezi University, Shihezi, Xinjiang 832000, China; 2. Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China)
Abstract：To improve the operating stability of high clearance vehicles, based on the characteristics of nonlinearity, complexity and uncertainty, a cosimulation platform active torque control system was established to control the centroid roll angle of vehicle. The dynamic and physical model of vehicle was established based on ADAMS/View, and a control system simulation model was established based on MATLAB/Simulink. Grey prediction theory, fuzzy control and traditional PID control algorithms were combined to respectively design three kinds of active torque controllers with doubleacting hydraulic cylinder as actuator and with active torque as control variable. The stability control system was simulated and analyzed based on the cosimulation platform. The simulation results show that all the three controllers can effectively improve the roll stability of vehicle, and the grey predictive fuzzy PID controller has the best effect. The variation range of vehicle roll angle is reduced by 45.5%, and the RMS of vehicle roll angle is reduced by 45.2%.
