重庆理工大学学报2026，Vol.40Issue(13)：53-62,10.DOI:10.3969/j.issn.1674-8425(z).2026.07.007
举升状态下四轴重型自卸车建模与稳定性控制
Modeling and stability control of a four-axle heavy dump truck under lifting conditions
摘要
Abstract
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.关键词
四轴重型自卸车/举升作业/耦合动力学模型/集成控制算法/半主动悬架Key words
FAHDT/lifting process/coupling dynamic model/integrated control algorithm/semi-active suspension分类
交通工程引用本文复制引用
胡明茂,陈宇阳,王兆坤,王力航,宫爱红,龚青山,郭栋..举升状态下四轴重型自卸车建模与稳定性控制[J].重庆理工大学学报,2026,40(13):53-62,10.基金项目
国家自然科学基金项目(52572403) （52572403）
湖北省教育厅重点项目(D20211803) （D20211803）
湖北汽车工业学院博士基金项目(BK202545) （BK202545）
汽车动力传动与电子控制湖北重点实验室项目(ZDK12023B02) （ZDK12023B02）
