举升状态下四轴重型自卸车建模与稳定性控制OA

Four-axle heavy dump trucks often experience stability accidents during the lifting process,particularly under complex working conditions.To enhance vehicle stability and prevent such accidents,this paper proposes an integrated control method that combines the fuzzy active disturbance rejection control(FADRC)algorithm with the hybrid-hook damping control(HHDC)algorithm.First,a coupled lifting-driving dynamic model of the FAHDT was developed,in which the vertical distances from the sprung mass center and the cargo box mass center to the ground served as stability evaluation indicators.Then,a controller integrating the FADRC-HHDC control principles with a semi-active suspension control strategy was developed.Validation tests were conducted in a TruckSim/Simulink co-simulation environment.Finally,the proposed control method was compared with both uncontrolled and single-control strategies through simulations under typical D-level random road conditions.Results demonstrate the proposed method more effectively suppresses the roll tendency of the FAHDT,substantially improving vehicle stability and safety during the lifting and unloading process.