Study on chassis cooperative control of turning and tripping anti-rollover for four-axle heavy dump trucks

In order to solve the rollover problem of the four-axle heavy dump truck during driving, the chassis cooperative control method was proposed combining differential braking, active front steering and active suspension control, and a 13-degree-of-freedom dynamic model was established. The weight coefficients of the three controls were set, the functional relationships between the rollover evaluation index and the weight coefficients were established respectively. With the joint simulation of MATLAB/Simulink and Trucksim, the simulation results show that, compared to the integrated control of differential braking and active suspension control, the chassis cooperative control reduces the peak roll angle by additional 1.308 deg and 2.409 deg. Compared to the integrated control of differential braking and active front steering control, the chassis cooperative control reduces the peak roll angle by additional 0.766 deg and 0.701 deg. The chassis cooperative control method effectively prevents rollover and improves the stability of the heavy truck.