Research on Anti-rollover Differential Braking of Heavy-dump Truck Based on Fuzzy PID Control

In order to improve the rollover resistance of heavy dump trucks at high speeds, a three-degree-of-freedom mathematical model and a vehicle reference model were constructed. The roll state index of the lateral load transfer rate and the deviation of the vehicle center of mass side slip angle are taken as the control objectives. An anti-rollover differential braking controller is designed based on fuzzy PID control. The anti-rollover control of the vehicle is realized by differential braking to generate a yaw moment. In order to verify the effectiveness of the controller, a co-simulation was carried out in Trucksim and Matlab/Simulink, and the anti-rollover control method was verified with the fishhook working condition and step working condition. The simulation results show that the designed controller can effectively reduce the dump truck’s side slip angle, yaw rate, and peak value of the roll angle, improve the roll stability of the heavy dump truck, and reduce the rollover probability of the dump truck.