Research On Rollover Stability Of The Forest Firefighting Vehicle Based On Inertial Navigation Technology

The forest firefighting vehicle plays a significant role in the forest fire suppression and its rollover stability is directly related to the safety of firefighters and fire equipment,which has attracted more and more attention.Considering the fact that there are few studies on rollover stability of special forest firefighting vehicles and the dynamic rollover stability test of forest firefighting vehicles is difficult and dangerous,this paper applies modal theoretical calculations,computer simulations,and static and dynamic tests based on inertial navigation technology to explore the forest firefighting vehicle's rollover stability.This paper combines BJ5030XZH27 forest firefighting trial vehicle with the inertial measurement system based on inertial navigation technology,which can output positional and attitude information such as lateral acceleration and rollover angle in real time and accurately,to complete the study on forest firefighting vehicle's rollover stability.The research indicates that in the static state,the rollover model with suspension can more accurately reflect the stability of the trial vehicle.Compared with the actual output of test bench,the rollover angle of the IMU has-2.2°?2.5° error which is less than the minimum lifting step 3°,satisfactorily satisfying the measurement precision of vehicle's rollover stability tests.Further,this type of forest firefighting vehicle is in accordance with the state standard of static rollover angle.In the dynamic rollover stability researches,compared with the Simulink simulation results,the data obtained from inertial measurement unit under standard conditions is analyzed by MATLAB and can draw a conclusion:the change trends of roll angle and lateral acceleration with time are consistent.The speed is a strong sensitive factor which affects the stability of rollover stability and the front rotation angle is the sensitive factor which has low influence on rollover stability.Combined the laws of motion,inertial navigation technology can be used to determine the lateral stability of forest firefighting vehicle and improve the active safety and smart,and reduce the possibility of fire firefighting vehicle rollover during disaster relief.