Active anti-rollover control strategy for multi-axle heavy-duty vehicles based on torque distribution

doi:10.3969/j.issn.1674-8484.2026.01.004

Abstract

Abstract:

A multi-axle heavy-duty vehicle active anti rollover control system based on torque distribution was developed to improve the active anti rollover performance of multi-axle heavy-duty vehicles under high-speed extreme rollover conditions, taking the distributed electric drive multi axle heavy-duty vehicle as the object. The lateral load transfer rate was used as the roll criterion, and an Anti-Chattering Fuzzy Sliding Mode Control algorithm was proposed to obtain the desired additional yaw moment, and the differential yaw moment was generated by reasonably distributing all wheel drive torque to ensure the roll stability of the vehicle. And the effectiveness of the proposed method was verified by driver in the loop experiment. The results show that the proposed control method can successfully avoid vehicle rollover under the extreme condition of driver manual operation, and the maximum absolute value of vehicle lateral load transfer rate is reduced by about 2%, the maximum roll angle is reduced by about 4.9%, the time of lateral load transfer rate exceeding roll threshold decreases by 42.2%.

Key words: vehicle dynamics, vehicle control system, muti-axle heavy-duty vehicle, active anti-rollover system, distributed electric drive

CLC Number:

U461.91

WU Zhongtao, SHEN Lilin, LI Bingbing, YIN Guodong, CHEN Boli. Active anti-rollover control strategy for multi-axle heavy-duty vehicles based on torque distribution[J]. Journal of Automotive Safety and Energy, 2026, 17(1): 40-49.

Figures/Tables 12

References 18

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M	5 505 kg	K	150 N/mm
m_s	4 455 kg	C	10 N/(mm·s^-1)
T	2.03 m	m_uf	350 kg
l_f	1.755 m	m_um	350 kg
l_m	3.475 m	m_ur	350 kg
l_r	4.745 m	r_e	510 mm
b	1.200 m	r₀	520 mm
I_x	34 823.2 kg·m²	C_yfL, C_yfR	-171.800 kN/rad
I_z	2 286.8 kg·m²	C_ymL, C_ymR	-40.855 kN/rad
h_c	1.200 m	C_yrL, C_yrR	-39.415 kN/rad
h_r	672 mm

M	5 505 kg	K	150 N/mm
m_s	4 455 kg	C	10 N/(mm·s^-1)
T	2.03 m	m_uf	350 kg
l_f	1.755 m	m_um	350 kg
l_m	3.475 m	m_ur	350 kg
l_r	4.745 m	r_e	510 mm
b	1.200 m	r₀	520 mm
I_x	34 823.2 kg·m²	C_yfL, C_yfR	-171.800 kN/rad
I_z	2 286.8 kg·m²	C_ymL, C_ymR	-40.855 kN/rad
h_c	1.200 m	C_yrL, C_yrR	-39.415 kN/rad
h_r	672 mm