Anti-Overturning Control Of Container Straddle Carrier Considering The Impact Of Sudden Crosswind

The container straddle carrier has the advantages of heavy load,stacking and high transportation efficiency,and its application in the port container transportation industry is gradually expanding.However,due to the high center of mass,large load capacity and the characteristics of portal structure,the container straddle carrier will roll over accident in the strong wind environment of the port,threatening the safety of port transportation.Therefore,it is necessary to carry out in-depth research on anti-rollover control of straddle carriers.Based on the research achievements of domestic and foreign scholars on anti-rollover control of straddle carriers,this paper focuses on the factors affecting the overturning of straddle carriers by unstable crosswind,and further studies the rollover criterion and active anti-rollover control strategy of straddle carriers under crosswind conditions.The research results provide a certain reference for the active anti-rollover control of driverless straddle carriers.In this paper,the body surface model of straddle carrier was established and simplified to some extent.The crosswind outflow field model was analyzed by simulating unstable crosswind,and the aerodynamic load variation of straddle carrier under crosswind condition was calculated.Then,through the analysis of the steering model and tire model of the straddle carrier,the vehicle dynamics model based on lateral,yaw and roll three degrees of freedom was established.Based on the analysis of vehicle rollover criterion,a straddle carrier rollover criterion based on energy method was proposed,which could effectively and sensitively represent the rollover state of crossover vehicle.Finally,an anti-rolover control system based on differential braking was designed,and a Linear Quadratic Regulator controller was introduced to calculate additional yaw moment required by anti-rolover and used genetic algorithm to optimize the weight coefficient of the Linear Quadratic Regulator controller.The differential braking control strategy was used to realize the braking force distribution of the control target wheel.The control model was built in MATLAB/Simulink,and through the simulation in the angular step condition and double line shift condition,it was verified that the rollover criterion of energy method can effectively indicate the rollover state of straddle carrier.It was also verified that the designed anti-rollover control system can effectively control the yaw stability of straddle carrier and prevent rollover of straddle carrier.