Research on anti-rollover control of three-axle rescue vehicle based on active suspension and differential braking

Abstract. Due to its intricate operational environment, substantial mass and elevated center of mass, the three-axle emergency rescue vehicle is more prone to rollover. This study aims to enhance the operational stability and mitigate rollover risks by establishing a rollover dynamic model with 11 degrees of freedom. Using the coupling characteristics of vehicle dynamics and tire force, an anti-rollover control strategy of the three-axle vehicle based on the cooperative work of differential braking and active suspension is proposed. According to the vehicle motion characteristics, the active suspension controller is built using a fuzzy proportional–integral–derivative (PID) algorithm, and the differential braking controller is built using the improved adaptive model predictive control (MPC) algorithm. The step and fishhook tests of differential braking, active suspension control, and joint control are carried out. The simulation results show that the joint control strategy can effectively reduce the rollover tendency of the vehicle and further improve the anti-rollover ability of the vehicle compared with the single control system.