引入姿态估计和地形特征的铰接轮式装载机侧翻预警模型与主动安全控制

Articulated wheel loaders are featured by variable structure, variable mass and random shift of their center of gravity, and thus prone to rollover accidents. Therefore, advanced rollover prediction is the key to active safety control of articulated wheel loaders. However, the current research on instability of articulated wheel loaders has not considered the key factor of unstructured road surface and loader posture estimate. Based on our previous study of instability indicators and early warning model, this proposed project is to further study the critical role of pose estimation and terrain features on the instability evolution process of articulated wheel loaders, establish the rollover warning model and realize the early detection of unstable states of articulated wheel loaders during active safe control. The research contents include: accurate pose estimation of articulated wheel loaders with variable structure; evolution trend analyses and quantitative description of key parameters within instable critical areas; understanding the instability mechanism of articulated wheel loaders caused by unstructured terrain local features; building dynamic model of an articulated wheel loader under complex terrain; exploring the relation among wheel loader instability, pose estimation and terrain features to improve early warning model on instability; studying active safety control method based on dynamically variable weight to provide theoretical and practical basis for instability warning and effective regulation of articulated wheel loaders. The research findings have important application value and scientific significance, and the proposed instability warning and active safety control methods could be used by other special vehicles with similar characteristics.

铰接轮式装载机具有变结构、变载荷、质心位置变动随机、行驶于非结构地形等特点，易发生侧翻事故，提前对其侧翻进行预测是实现主动安全控制的前提和关键。本项目针对目前装载机失稳研究中未考虑非结构地形与装载机姿态变化等关键失稳诱因的不足，在前期失稳指标等研究基础上，进一步研究装载机姿态估计和地形特征在其失稳临界演变中的作用，建立侧翻预警模型，实现在主动安全控制中对失稳状态的提前预测。具体包括：研究铰接轮式装载机车身姿态精确估计，实现其失稳临界区域关键参数演变的趋势分析和定量描述；掌握非结构地形特征对铰接轮式装载机失稳的诱导机制；建立复杂地形环境下的动力学模型，探索车身姿态估计和地形特征造成车辆失稳的规律，完善失稳预警模型；研究基于动态可变配重的主动安全控制方法，为铰接轮式装载机的失稳预警和调控提供理论和实践基础。本成果可为具有类似特点的其它特种车辆失稳研究提供参考，具有重要的科学意义和应用价值。

铰接轮式装载机具有变结构、变载荷、质心位置变动随机、行驶于非结构地形等特点，因而容易出现侧翻失稳事故，提前对车辆侧翻进行预测是实现主动安全控制的前提和关键。本项目综合应用理论分析、三维点云建模、仿真模拟、比例模型样机等研究方法，开展轮式装载机的非结构地面建模、姿态精确估计、失稳预测及防侧翻主动安全控制研究。主要完成的工作包括：（1）运用激光雷达获取了非结构化路面扫描信息，为装载机安全稳定行驶提供了可靠依据。（2）针对铰接轮式装载机的特殊结构建立了相应的失稳预警指标，并应用多传感器数据融合对装载机姿态及失稳状态进行了准确测量及实时监测。（3）构建了铰接轮式装载机的六自由度侧向动力学模型，深入分析临界失稳过程中车身姿态及运动学参数等关键参数的演变趋势和对失稳的影响机制。（4）考虑装载机的非结构地形特征与姿态估计，应用神经网络实现对车辆的位姿预测，并进一步预测获得车辆的侧倾与俯仰角度，完成失稳预警。（5）设计了一种单框架力矩陀螺稳定装置应用于装载机的防侧翻主动安全控制，并通过样车试验进行了验证分析，实验结果验证了提出方法的可行性。其成果可为具有类似特点的其它特种车辆失稳预警和主动安全控制提供参考，具有重要的科学意义和应用价值。