Research On The Identification And Control Strategy Of The Lateral Stability Of The Hazardous Chemical Tanker

With the rapid development of China's industrialization,the demand for hazardous chemicals has increased dramatically.However,at present,the transportation of hazardous chemicals in China mainly relies on tank cars for road transportation.Once there is a traffic accident in the transportation process,it will pose a great threat to people and the environment.Based on this,this paper takes the dangerous chemical tanker as the research object,mainly to solve the identification of vehicle state parameters in transit transportation and how to reduce the occurrence of dangerous conditions through control strategies.Based on the structure and driving characteristics of hazardous chemicals tank trucks,this article is divided into model design,control strategy construction and joint simulation.Model design includes: 6-DOF dynamic model and Trucksim vehicle model.A 6-degree-of-freedom dynamic model with a separate tractor and tanker was designed,combined with the UKF estimation algorithm to estimate the parameters of the model,and the calculation of special parameters was calculated,which was in agreement with the comparison of the actual curve output by Trucksim.In Trucksim software,based on the structural characteristics of dangerous chemical tanker trucks,a vehicle model was established,and three operating conditions were tested according to the national commercial vehicle experimental standards to verify the reliability of the model.The construction of the control strategy and the realization of the joint simulation mainly include: analysis of the advantages and disadvantages of the control method,according to the different braking efficiency of the tractor and tanker,the segmented braking is adopted,and the tractor and tanker adopt different braking methods,the tractor The part uses fuzzy PID combined with differential braking,and the part of tank truck uses conventional fuzzy PID control,selects a specific parameter from the estimated state parameters to design a set of braking system,and performs specific road conditions by numerical input Simulation.Co-simulation of full-text overall modeling and parameter estimation,running inside the software,and conducting stability experiments with reference to national standar.The test results show that the parameter estimation and control strategy established in this paper have a good effect on the improvement of vehicle running stability,and effectively reduce the occurrence of rollover,yaw and tail swing dangerous conditions.