CN101830225A - Engineering vehicle active anti-rollover control system and method - Google Patents
Engineering vehicle active anti-rollover control system and method Download PDFInfo
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- CN101830225A CN101830225A CN 201010174135 CN201010174135A CN101830225A CN 101830225 A CN101830225 A CN 101830225A CN 201010174135 CN201010174135 CN 201010174135 CN 201010174135 A CN201010174135 A CN 201010174135A CN 101830225 A CN101830225 A CN 101830225A
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Abstract
The invention relates to an engineering vehicle active anti-rollover control system and method, belonging to the technical field of engineering vehicle security study. In the system of the invention, an input interface is connected with a rollover state detection module, an output interface is connected with a control module; an active hydro-pneumatic suspension fork controller, a differential braking system controller, a working device controller and a steering system controller are separately used to control an active hydro-pneumatic suspension fork, a differential braking system, a working device and a steering system; a voice warner and a pilot lamp warner receive the rollover hazard warning signals outputted by a anti-rollover central processing unit, and a vertical gyroscope is arranged in the cab of the engineering vehicle. By using the system of the invention, before the engineering vehicle rolls over, early warning signals can be provided for the driver and the rollover control system for rollover early warning, the height of the hydro-pneumatic suspension fork, the relative angle of the front and rear frames and the posture of the working equipment can be autonomously adjusted, and the braking force can be changed. Therefore, rollovers can be actively avoided so as to reduce rollover accidents fundamentally and realize the active protection of the rollover of engineering vehicles; and the system is easy to operate.
Description
Technical field
The invention belongs to engineering truck security study technical field, is a kind of engineering vehicle active anti-rollover control system and method specifically.
Background technology
The engineering truck work under bad environment, the track complexity, roll-over accident is occurred frequently.International standard laws and regulations requirement engineering truck must install the frame-type Roll-Over Protective Structure additional realizing the passive protection to the driver, but still driver's injures and deaths when being difficult to avoid overturning.
Research to active safety systems of vehicles mainly is at car and heavy-duty vehicle at present, and it is following several to prevent that the method for turning on one's side from mainly containing: (1) is by brake or reduce the engine torque reduction speed of a motor vehicle; (2) wheel differential braking; (3) active steering; (4) the anti-tipping bar of active; (5) semi-active suspension; (6) active suspension.Wherein, research now is most popular at most is active suspension system and the anti-tipping bar of active.
Theoretical investigation has good reference value to the engineering truck active safety design for car and the anti-tipping Study on Technology achievement of heavy-duty vehicle active.But, cause engineering truck all very big difference to be arranged with automobile at aspects such as body frame structure for automotive and overturning operating modes because engineering truck has special equipment.Therefore, the design theory of engineering vehicle active anti-rollover system and the research of control technology had good theoretical value and application prospect.
The problem that the research of engineering truck rollover stability at present exists has:
1) prediction of engineering truck stability and rollover conditions is more than Automobile Complex, and the parameter that influences vehicle stability is many, and is interrelated again.With the zl50 loader is example, its full-loading condition and idle condition quality differ 5000kg, account for complete machine quality 1/4, material lift location and front and back vehicle frame hinge angle bring difficulty for the prediction of the centroid position of loader, and the tipping line of loader also changes with front and back vehicle frame hinge angle in addition:
2) tumble under the critical conditions, for realizing that engineering truck recovers stable, alternative controlled variable comprises active suspension height, front and back vehicle frame hinge angle, attitude of working device and brakig force distribution etc., the effect of these parameters to suppressing to tumble, response time, how to make these ACTIVE CONTROL Rational Parameters combinations, reaching optimal control results all needs in-depth study.
Summary of the invention
The object of the present invention is to provide a kind of engineering vehicle active anti-rollover control system and method; by multi-sensor information fusion monitor vehicle stability status; when the engineering truck rollover does not also take place; it is dangerous just to predict rollover; and early warning signal is provided for chaufeur and rollover control system; the early warning of turning on one's side; by autonomous adjustment active hydro pneumatic suspension height, front and back vehicle frame relative angle, attitude of working device and change braking force; realize initiatively suppressing to tumble; from the generation of root minimizing roll-over accident, realize initiatively protection of engineering truck overturning.
One, about engineering vehicle active anti-rollover control system of the present invention
(1) forms by rollover conditions detection module II, central processing module II, control module III, execution module IV and engineering truck V, wherein, the input interface 7 of central processing module II is connected with rollover conditions detection module I, and the output interface 9 of central processing module II is connected with the control module III; Active hydro pneumatic suspension controller 10, differential braking system controller 11, equipment controller 12 and steering swivel system controller 13 in the control module III, active hydro pneumatic suspension 14, differential braking system 15, equipment 16 and the steering swivel system 17 in the corresponding control and executive module IV respectively; Phonetic alarm 18 in the execution module IV and indicator lamp annunciator 19, the engineering truck V that receives anti-tipping central process unit 8 outputs in the central processing module II danger alarm signal of tumbling; Vertical gyro 4 in the rollover conditions detection module I is installed on the flat carrier of engineering truck V operator's compartment internal fixation.
(2) rollover conditions detection module I by equipment oil cylinder extension elongation sensor 1, equipment oil cylinder working-pressure sensor 2, turn to oil cylinder extension elongation sensor 3, vertical gyro 4, hydro pneumatic suspension oil cylinder working-pressure sensor 5 and hydro pneumatic suspension oil cylinder extension elongation sensor 6 to form, wherein:
1) equipment oil cylinder extension elongation sensor 1 and equipment oil cylinder working-pressure sensor 2 are installed on equipment 16 oil cylinders of execution module IV;
2) turn to oil cylinder extension elongation sensor 3 to be installed on steering swivel system 17 oil cylinders of execution module IV;
3) vertical gyro 4 is installed on the flat carrier of engineering truck V operator's compartment internal fixation, and the X-axis of vertical gyro 4 is pointed to engineering truck V the place ahead, and it is right-hand that Y-axis is pointed to engineering truck V, and the Z axle points under the engineering truck V;
4) hydro pneumatic suspension oil cylinder working-pressure sensor 5 and hydro pneumatic suspension oil cylinder extension elongation sensor 6 are installed on active hydro pneumatic suspension 14 oil cylinders of execution module IV.
(3) the central processing module II is by input interface 7, anti-tipping central process unit 8 and output interface 9 are formed, wherein input interface 7 is connected with rollover conditions detection module I, output interface 9 is connected with the control module III, the equipment oil cylinder extension elongation sensor 1 of anti-tipping central process unit 8 in input interface 7 collections and fusion rollover conditions detection module I, equipment oil cylinder working-pressure sensor 2, turn to oil cylinder extension elongation sensor 3, hydro pneumatic suspension oil cylinder working-pressure sensor 5 and hydro pneumatic suspension oil cylinder extension elongation sensor 6 detected signals, calculate the center-of-gravity position of engineering truck V, estimation of stability index and rollover pre-warning time (TTR, Time to rollover), judge the rollover state of engineering truck V, make the control policy decision simultaneously, and, the control information correspondence is outputed to the equipment controller 12 of control module III through output interface 9, steering swivel system controller 13, active hydro pneumatic suspension controller 10 and differential braking system controller 11.
(4) the control module III is made up of active hydro pneumatic suspension controller 10, differential braking system controller 11, equipment controller 12 and steering swivel system controller 13, and receives the output signal of anti-tipping central process unit 8 in the central processing module II, wherein:
1) extension elongation of the oil cylinder of the active hydro pneumatic suspension 14 in 10 controls of active hydro pneumatic suspension controller and the change execution module IV:
2) braking force of the differential braking system 15 in 11 controls of differential braking system controller and the change execution module IV;
3) extension elongation of equipment 16 oil cylinders in 12 controls of equipment controller and the change execution module IV;
4) extension elongation of steering swivel system 17 oil cylinders in 13 controls of steering swivel system controller and the change execution module IV.
(5) the execution module IV is made up of active hydro pneumatic suspension 14, differential braking system 15, equipment 16, steering swivel system 17, phonetic alarm 18 and indicator lamp annunciator 19, the wherein initiatively control of hydro pneumatic suspension controller 10, differential braking system controller 11, equipment controller 12 and steering swivel system controller 13 in active hydro pneumatic suspension 14, differential braking system 15, equipment 16 and the controlled module III of steering swivel system 17 difference, and carry out corresponding actions.The engineering truck V that phonetic alarm 18 and indicator lamp annunciator 19 receives anti-tipping central process unit 8 outputs in the central processing module II danger alarm signal of tumbling.
Two, about the effect and the function of each module in the engineering vehicle active anti-rollover control system
In the rollover conditions detection module I, equipment oil cylinder extension elongation sensor 1 is installed on the equipment oil cylinder, is used for measuring the extension elongation of execution module IV equipment oil cylinder; Equipment oil cylinder working-pressure sensor 2 is installed on the oil cylinder of equipment 16 in the execution module IV, is used for measuring the pressure of execution module IV equipment 16 oil cylinders; Turn to oil cylinder extension elongation sensor 3 to be installed in to turn in the execution module IV turning on the oil cylinder of system 17, be used to measure the extension elongation that turns to oil cylinder; Vertical gyro 4 is installed on the flat carrier of engineering truck V operator's compartment internal fixation, is used to measure engineering truck V car load angle of roll, longitudinal velocity and longitudinal acceleration; Hydro pneumatic suspension oil cylinder working-pressure sensor 5 is installed in the execution module IV initiatively on hydro pneumatic suspension 14 oil cylinders, is used for measuring the initiatively pressure of hydro pneumatic suspension oil cylinder of execution module IV; Hydro pneumatic suspension oil cylinder extension elongation sensor 6 is installed in the execution module IV initiatively on hydro pneumatic suspension 14 oil cylinders, is used for measuring the initiatively oil cylinder extension elongation of hydro pneumatic suspension 14 of execution module IV.
When vertical gyro 4 is installed, note the upper surface of vertical gyro 4 attachment faces with the flat carrier of engineering truck V operator's compartment internal fixation pasted mutually, X-axis is pointed to engineering truck V car load the place ahead, it is right-hand that Y-axis is pointed to engineering truck V car load, the Z axle points under the engineering truck V car load, and is connected with flat carrier.
In the central processing module II, anti-tipping central process unit 8 is gathered each signal of sensor in the rollover conditions detection module I by input interface 7, and by incoming signal (each signal of sensor) is carried out information fusion, calculate engineering truck V car load center-of-gravity position, estimation of stability index and rollover pre-warning time, judge the rollover state of engineering truck V car load, make corresponding control policy decision according to the rollover state, and the control information correspondence is outputed to the equipment controller 12 of control module III by output interface 9, steering swivel system controller 13, active hydro pneumatic suspension controller 10 and differential braking system controller 11.
The control module III receives the output signal of anti-tipping central process unit 8, wherein:
1. the extension elongation of the oil cylinder of active hydro pneumatic suspension 14 is controlled in 10 pairs of execution module IV of active hydro pneumatic suspension controller, and then by changing the initiatively oil cylinder extension elongation of hydro pneumatic suspension 14, make engineering truck V car load be in the attitude of level relatively all the time, thereby improve the stability and the road-holding property of engineering truck V car load, and realize the effect that inhibition is tumbled.
2. differential braking system 15 controls in 11 pairs of execution module IV of differential braking system controller, and then improves wheel side to cohesive resistance, improves engineering truck V whole vehicle stability, reaches the purpose that inhibition is tumbled.
3. the extension elongation of equipment 16 oil cylinders is controlled in 12 pairs of execution module IV of equipment controller, and then by changing the attitude of equipment 16, adjust engineering truck V car load center-of-gravity position, improve engineering truck V whole vehicle stability, reach anti-tipping purpose.
4. turn to the extension elongation that turns to oil cylinder of system 17 to control in 13 pairs of execution module IV of steering swivel system controller, and then by changing the angle of articulated vehicle front and back vehicle frame, adjust the center-of-gravity position of engineering truck V car load, improve engineering truck V whole vehicle stability, reach anti-tipping purpose.
Active hydro pneumatic suspension 14, differential braking system 15, equipment 16 and steering swivel system 17 in the execution module IV, receive signal respectively, carry out corresponding actions from active hydro pneumatic suspension controller 10, differential braking system controller 11, equipment controller 12 and steering swivel system controller 13 in the control module III.Phonetic alarm 18 and indicator lamp annunciator 19 directly receive the alerting signal of anti-tipping central process unit 8 outputs in the central processing module II, and danger is reported to the police to tumbling.
Three, about engineering vehicle active anti-rollover control method of the present invention
The engineering vehicle active anti-rollover control method comprises the following steps:
1) by rollover conditions detection module I to the oil cylinder working-pressure of engineering truck V car load angle of roll, longitudinal velocity, longitudinal acceleration, equipment 16 and extension elongation, initiatively the extension elongation of the oil cylinder working-pressure of hydro pneumatic suspension 14 and extension elongation, steering swivel system 17 oil cylinders detects, and the anti-tipping central process unit 8 of detection signal in input interface 7 input central processing module II further handled;
2) oil cylinder working-pressure of the equipment 16 that records according to rollover conditions detection module I of central processing module II and extension elongation, the initiatively oil cylinder working-pressure and the extension elongation of hydro pneumatic suspension 14, and turn to the oil cylinder extension elongation, calculate engineering truck V car load center-of-gravity position;
3) central processing module II engineering truck V car load angle of roll, longitudinal velocity and longitudinal acceleration that rollover conditions detection module I is recorded and the engineering truck V car load center-of-gravity position that calculates carry out many information fusion, obtain engineering truck V whole vehicle stability index, rollover pre-warning time and rollover state;
4) the central processing module II judges according to engineering truck V whole vehicle stability index, rollover pre-warning time and rollover state whether engineering truck V has the danger of tumbling;
5) when engineering truck V do not have tumble dangerous when possible, the central processing module II is sent corresponding signal according to engineering truck V whole vehicle stability index to active hydro pneumatic suspension controller 10, differential braking system controller 11, and then real-time regulated active hydro pneumatic suspension 14 and differential braking system 15, its active hydro pneumatic suspension 14 elongates or shortens according to the road surface height, load is rectangular distribution on each wheel, and engineering truck V car load still keeps horizontality; By the braking force of differential braking system 15 each wheel of change, control longitudinal velocity and longitudinal acceleration prevent that engineering truck V from wheel lockup taking place in braking procedure, and take place excessively to trackslip when starting.This moment, engineering truck V car load had advantages of higher stability, and the mode of operation of steering swivel system 17 and equipment 16 is consistent with driver intention;
6) tumble dangerously when possible when engineering truck V has, the central processing module II directly to the phonetic alarm 18 and the indicator lamp annunciator 19 transmission alerting signals of execution module IV, be sent caution to chaufeur.If chaufeur is not in time taked corresponding measure, the central processing module II will be voluntarily according to rollover state and rollover pre-warning time, preferentially active hydro pneumatic suspension controller 10, differential braking system controller 11 are sent the execution signal, adopt the control device of adjusting active hydro pneumatic suspension 14 and differential braking system 15, reduce the danger of tumbling of engineering truck V; When the control device of adjusting active hydro pneumatic suspension 14 and differential braking system 15 can't be avoided slide-out, the central processing module II will be sent the execution signal to equipment controller 12 and steering swivel system controller 13, control steering swivel system 17 and equipment 16 are adjusted engineering truck V car load center-of-gravity position.Greatly improve engineering truck V whole vehicle stability, thereby avoid tumbling generation.This moment, vehicle driving trace was not consistent with driver intention with the operating attitude of equipment 16.
Good effect of the present invention is: can be when the engineering truck rollover does not also take place; just predict the danger of rollover; and early warning signal is provided for chaufeur and rollover control system; the early warning of turning on one's side; realize initiatively suppressing to tumble by autonomous adjustment hydro pneumatic suspension height, front and back vehicle frame relative angle, attitude of working device and change braking force; from the generation of root minimizing roll-over accident, realize initiatively protection of engineering truck overturning.By the application of the method and system, will reduce roll-over accident largely, guarantee driver's life security, lay a good foundation for the safe design of engineering truck simultaneously, and the native system easy operating.
Description of drawings
Fig. 1 is the engineering vehicle active anti-rollover control system scheme drawing
Fig. 2 is the control method diagram of circuit of engineering vehicle active anti-rollover system
Wherein: I. rollover conditions detection module II. the central processing module III. the control module IV. the Executive Module V. engineering truck 1. equipment oil cylinder extension elongation sensors 2. equipment oil cylinder working-pressure sensors 3. steering cylinder extension elongation sensors 4. vertical gyroscopes 5. hydro pneumatic suspension oil cylinder working-pressure sensors 6. hydro pneumatic suspension oil cylinder extension elongation sensors 7. input interfaces 8. anti-tipping central processing unit 9. output interfaces 10. are hydro pneumatic suspension controller 11. differential braking system controllers 12. equipment controllers 13. steering controllers 14. active hydro pneumatic suspensions 15. differential braking systems 16. equipments, 17. steering, 18. phonetic alarms, 19. indicator lamp alarms initiatively
The specific embodiment
Engineering vehicle active anti-rollover control system of the present invention is made up of rollover conditions detection module I, central processing module II, control module III, execution module IV and engineering truck V, wherein, the input interface 7 of central processing module II is connected with rollover conditions detection module I, and the output interface 9 of central processing module II is connected with the control module III; Active hydro pneumatic suspension controller 10, differential braking system controller 11, equipment controller 12 and steering swivel system controller 13 in the control module III, active hydro pneumatic suspension 14, differential braking system 15, equipment 16 and the steering swivel system 17 in the corresponding control and executive module IV respectively; Phonetic alarm 18 in the execution module IV and indicator lamp annunciator 19, the engineering truck V that receives anti-tipping central process unit 8 outputs in the central processing module II danger alarm signal of tumbling; Vertical gyro 4 in the rollover conditions detection module I is installed on the flat carrier of engineering truck V operator's compartment internal fixation.
Rollover conditions detection module I by equipment oil cylinder extension elongation sensor 1, equipment oil cylinder working-pressure sensor 2, turn to oil cylinder extension elongation sensor 3, vertical gyro 4, hydro pneumatic suspension oil cylinder working-pressure sensor 5 and hydro pneumatic suspension oil cylinder extension elongation sensor 6 to form, wherein:
1) equipment oil cylinder extension elongation sensor 1 and equipment oil cylinder working-pressure sensor 2 are installed on equipment 16 oil cylinders of execution module IV;
2) turn to oil cylinder extension elongation sensor 3 to be installed on steering swivel system 17 oil cylinders of execution module IV;
3) vertical gyro 4 is installed on the flat carrier of engineering truck V operator's compartment internal fixation, and the X-axis of vertical gyro 4 is pointed to engineering truck V the place ahead, and it is right-hand that Y-axis is pointed to engineering truck V, and the Z axle points under the engineering truck V;
4) hydro pneumatic suspension oil cylinder working-pressure sensor 5 and hydro pneumatic suspension oil cylinder extension elongation sensor 6 are installed on active hydro pneumatic suspension 14 oil cylinders of execution module IV.
The central processing module II is by input interface 7, anti-tipping central process unit 8 and output interface 9 are formed, wherein input interface 7 is connected with rollover conditions detection module I, output interface 9 is connected with the control module III, the equipment oil cylinder extension elongation sensor 1 of anti-tipping central process unit 8 in input interface 7 collections and fusion rollover conditions detection module I, equipment oil cylinder working-pressure sensor 2, turn to oil cylinder extension elongation sensor 3, hydro pneumatic suspension oil cylinder working-pressure sensor 5 and hydro pneumatic suspension oil cylinder extension elongation sensor 6 detected signals, calculate the center-of-gravity position of engineering truck V, estimation of stability index and rollover pre-warning time, judge the rollover state of engineering truck V, make the control policy decision simultaneously, and, the control information correspondence is outputed to the equipment controller 12 of control module III through output interface 9, steering swivel system controller 13, active hydro pneumatic suspension controller 10 and differential braking system controller 11.
The control module III is made up of active hydro pneumatic suspension controller 10, differential braking system controller 11, equipment controller 12 and steering swivel system controller 13, and receives the output signal of anti-tipping central process unit 8 in the central processing module II, wherein:
1) extension elongation of the oil cylinder of the active hydro pneumatic suspension 14 in 10 controls of active hydro pneumatic suspension controller and the change execution module IV, make engineering truck V be in the attitude of level relatively all the time, thereby improved the stability and the road-holding property of engineering truck V car load, and realized the effect that inhibition is tumbled;
2) braking force of the differential braking system 15 in 11 controls of differential braking system controller and the change execution module IV improves wheel side to cohesive resistance, improves whole vehicle stability, reaches the purpose that inhibition is tumbled;
3) extension elongation of equipment 16 oil cylinders in 12 controls of equipment controller and the change execution module IV through changing the attitude of equipment 16, is adjusted the center-of-gravity position of engineering truck V, improves engineering truck V whole vehicle stability, reaches anti-tipping purpose;
4) extension elongation of steering swivel system 17 oil cylinders in 13 controls of steering swivel system controller and the change execution module IV, through changing the angle of articulated vehicle front and back vehicle frame, adjust the center-of-gravity position of engineering truck V, improve engineering truck V whole vehicle stability, reach anti-tipping purpose.
The execution module IV is made up of active hydro pneumatic suspension 14, differential braking system 15, equipment 16, steering swivel system 17, phonetic alarm 18 and indicator lamp annunciator 19, the wherein initiatively control of hydro pneumatic suspension controller 10, differential braking system controller 11, equipment controller 12 and steering swivel system controller 13 in active hydro pneumatic suspension 14, differential braking system 15, equipment 16 and the controlled module III of steering swivel system 17 difference, and carry out corresponding actions.The engineering truck V that phonetic alarm 18 and indicator lamp annunciator 19 receives anti-tipping central process unit 8 outputs in the central processing module II danger alarm signal of tumbling.
Claims (6)
1. engineering vehicle active anti-rollover control system, it is characterized in that forming by rollover conditions detection module (I), central processing module (II), control module (III), execution module (IV) and engineering truck (V), wherein the input interface (7) of central processing module (II) is connected with rollover conditions detection module (I), and the output interface (9) of central processing module (II) is connected with control module (III); Active hydro pneumatic suspension controller (10) in the control module (III), differential braking system controller (11), equipment controller (12) and steering swivel system controller (13), active hydro pneumatic suspension (14), differential braking system (15), equipment (16) and the steering swivel system (17) in the corresponding control and executive module (IV) respectively; Phonetic alarm (18) in the execution module (IV) and indicator lamp annunciator (19), the engineering truck (V) that receives anti-tipping central process unit (8) output in the central processing module (II) danger alarm signal of tumbling; Vertical gyro (4) in the rollover conditions detection module (I) is installed on the flat carrier of engineering truck (V) operator's compartment internal fixation.
2. by the described engineering vehicle active anti-rollover control system of claim 1, it is characterized in that described rollover conditions detection module (I) by equipment oil cylinder extension elongation sensor (1), equipment oil cylinder working-pressure sensor (2), turn to oil cylinder extension elongation sensor (3), vertical gyro (4), hydro pneumatic suspension oil cylinder working-pressure sensor (5) and hydro pneumatic suspension oil cylinder extension elongation sensor (6) to form, wherein:
1) equipment oil cylinder extension elongation sensor (1) and equipment oil cylinder working-pressure sensor (2) are installed on equipment (16) oil cylinder of execution module (IV);
2) turn to oil cylinder extension elongation sensor (3) to be installed on steering swivel system (17) oil cylinder of execution module (IV);
3) vertical gyro (4) is installed on the flat carrier of engineering truck (V) operator's compartment internal fixation, and the X-axis of vertical gyro (4) is pointed to engineering truck (V) the place ahead, and it is right-hand that Y-axis is pointed to engineering truck (V), and the Z axle points under the engineering truck (V);
4) hydro pneumatic suspension oil cylinder working-pressure sensor (5) and hydro pneumatic suspension oil cylinder extension elongation sensor (6) are installed on active hydro pneumatic suspension (14) oil cylinder of execution module (IV).
3. by the described engineering vehicle active anti-rollover control system of claim 1, it is characterized in that described central processing module (II) is by input interface (7), anti-tipping central process unit (8) and output interface (9) are formed, wherein input interface (7) is connected with rollover conditions detection module (I), output interface (9) is connected with control module (III), the equipment oil cylinder extension elongation sensor (1) of anti-tipping central process unit (8) in input interface (7) collection and fusion rollover conditions detection module (I), equipment oil cylinder working-pressure sensor (2), turn to oil cylinder extension elongation sensor (3), hydro pneumatic suspension oil cylinder working-pressure sensor (5) and the detected signal of hydro pneumatic suspension oil cylinder extension elongation sensor (6), calculate the center-of-gravity position of engineering truck (V), estimation of stability index and rollover pre-warning time, judge the rollover state of engineering truck (V), make the control policy decision simultaneously, and, the control information correspondence is outputed to the equipment controller (12) of control module (III) through output interface (9), steering swivel system controller (13), active hydro pneumatic suspension controller (10) and differential braking system controller (11).
4. by the described engineering vehicle active anti-rollover control system of claim 1, it is characterized in that described control module (III) is made up of active hydro pneumatic suspension controller (10), differential braking system controller (11), equipment controller (12) and steering swivel system controller (13), and receive the output signal of anti-tipping central process unit (8) in the central processing module (II), wherein:
1) extension elongation of the oil cylinder of the active hydro pneumatic suspension (14) in active hydro pneumatic suspension controller (10) control and the change execution module (IV);
2) braking force of the differential braking system (15) in differential braking system controller (11) control and the change execution module (IV);
3) extension elongation of equipment (16) oil cylinder in equipment controller (12) control and the change execution module (IV);
4) extension elongation of steering swivel system (17) oil cylinder in steering swivel system controller (13) control and the change execution module (IV).
5. by the described engineering vehicle active anti-rollover control system of claim 1, it is characterized in that described execution module (IV) is by active hydro pneumatic suspension (14), differential braking system (15), equipment (16), steering swivel system (17), phonetic alarm (18) and indicator lamp annunciator (19) are formed, hydro pneumatic suspension (14) initiatively wherein, differential braking system (15), equipment (16) and steering swivel system (17) be the middle initiatively hydro pneumatic suspension controller (10) of controlled module (III) respectively, differential braking system controller (11), the control of equipment controller (12) and steering swivel system controller (13), and carry out corresponding actions.The engineering truck (V) that phonetic alarm (18) and indicator lamp annunciator (19) receive anti-tipping central process unit (8) output in the central processing module (II) danger alarm signal of tumbling.
6. an engineering vehicle active anti-rollover control method is characterized in that comprising the following steps:
1) by rollover conditions detection module (I) to the oil cylinder working-pressure of engineering truck (V) car load angle of roll, longitudinal velocity, longitudinal acceleration, equipment (16) and extension elongation, initiatively the extension elongation of the oil cylinder working-pressure of hydro pneumatic suspension (14) and extension elongation, steering swivel system (17) oil cylinder detects, and detection signal is further handled through the anti-tipping central process unit (8) of input interface (7) input central processing module (II);
2) oil cylinder working-pressure of the equipment (16) that records according to rollover conditions detection module (I) of central processing module (II) and extension elongation, the initiatively oil cylinder working-pressure and the extension elongation of hydro pneumatic suspension (14), and turn to the oil cylinder extension elongation, calculate engineering truck (V) car load center-of-gravity position;
3) central processing module (II) engineering truck (V) car load angle of roll, longitudinal velocity and longitudinal acceleration that rollover conditions detection module (I) is recorded and engineering truck (V) the car load center-of-gravity position that calculates carry out many information fusion, obtain engineering truck (V) whole vehicle stability index, rollover pre-warning time and rollover state;
4) central processing module (II) judges according to engineering truck (V) whole vehicle stability index, rollover pre-warning time and rollover state whether engineering truck (5) has the danger of tumbling;
5) when engineering truck (V) do not have tumble dangerous when possible, central processing module (II) sends corresponding signal according to engineering truck (V) whole vehicle stability index to active hydro pneumatic suspension controller (10), differential braking system controller (11), and then real-time regulated active hydro pneumatic suspension (14) and differential braking system (15), its active hydro pneumatic suspension (14) elongates or shortens according to the road surface height, load is rectangular distribution on each wheel, and engineering truck (V) car load still keeps horizontality; Change the braking force of each wheel by differential braking system (15), control longitudinal velocity and longitudinal acceleration prevent that engineering truck (V) from wheel lockup taking place in braking procedure, and take place excessively to trackslip when starting.
6) tumble dangerously when possible when engineering truck (V) has, central processing module (II) directly to the phonetic alarm (18) and indicator lamp annunciator (19) the transmission alerting signal of execution module (IV), sends caution to chaufeur.If chaufeur is not in time taked corresponding measure, central processing module (II) will be voluntarily according to rollover state and rollover pre-warning time, preferentially active hydro pneumatic suspension controller (10), differential braking system controller (11) are sent the execution signal, adopt the control device of adjusting active hydro pneumatic suspension (14) and differential braking system (15), reduce the danger of tumbling of engineering truck (V); When the control device of adjusting active hydro pneumatic suspension (14) and differential braking system (15) can't be avoided slide-out, central processing module (II) will send the execution signal to equipment controller (12) and steering swivel system controller (13), control steering swivel system (17) and equipment (16) are adjusted engineering truck (V) car load center-of-gravity position.
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| CN102529959A (en) * | 2010-12-31 | 2012-07-04 | 财团法人车辆研究测试中心 | Automobile overturning prevention security system and method |
| CN102620890A (en) * | 2012-04-16 | 2012-08-01 | 吉林大学 | Hinge-type loader dynamic center-of-gravity position detection system and hinge-type loader dynamic center-of-gravity position detection method |
| CN102706565A (en) * | 2012-06-12 | 2012-10-03 | 吉林大学 | Real automobile testing system for controlling automotive active anti-rollover |
| CN102809489A (en) * | 2012-07-12 | 2012-12-05 | 吉林大学 | Active anti-rollover performance experimental system and method of engineering vehicle |
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| CN110962776A (en) * | 2019-11-18 | 2020-04-07 | 江苏徐工工程机械研究院有限公司 | Safety protection method and system and engineering vehicle |
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