干年妃　雷富强　周兵　吴晓建　李涛　柴天

摘   要：轉弯工况下，由于搅拌筒的回转及自身转弯离心力的共同作用，搅拌车容易侧翻. 本文针对此问题开展搅拌筒动态质心和搅拌车侧翻稳定性研究. 首先利用EDEM软件模拟混凝土在运输过程中的运动，经过计算、拟合获得质心位置变化的数学模型，将建立的质心位置变化模型与搅拌筒各支承力的关系应用于多体动力学仿真中，分析动态质心位置变化对搅拌车侧翻稳定性的影响. 然后，基于差动制动理论，提出一种融合改进粒子群优化算法的自整定PID抗侧翻控制算法，研究结果表明，考虑动态质心的影响时，搅拌车更容易侧翻;自整定PID算法迭代寻优次数较传统粒子群算法降低33.3%，能更加快速的寻找到最优的控制参数. 最后，通过角阶跃工况、Fishhook工况对提出的抗侧翻控制算法有效性进行验证，结果显示，自整定PID控制算法能更有效地防止搅拌车的侧翻，提高搅拌车侧翻稳定性.

关键词：搅拌车;动态质心;PID控制;抗侧翻控制

中图分类号：U469.6                            文献标志码：A

Research on Anti-Rollover Control of Mixing Truck

Considering Dynamic Mass Center of Mixing Drum

GAN Nianfei1，LEI Fuqiang1，ZHOU Bing1，WU Xiaojiang2，LI Tao1，CHAI Tian1

（1. State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body，

Hunan University，Changsha 410082，China;

2. School of Mechatronics Engineering，Nanchang University，Nanchang 330031，China）

Abstract：Under turning conditions，due to the combined action of the concrete flow in the mixer drum of the mixer truck and the turning centrifugal force，the mixer truck is easy to roll over. In response to this problem， the dynamic mass center of the mixer drum and the stability of the mixer truck rollover were studied. On the basis of using EDEM software to simulate the movement of concrete during transportation， a mathematical model of the position change of the center of mass is obtained through calculation and fitting， and the relationship between the position change of the center of mass and the centrifugal force and the supporting force of the mixing drum is applied to the multi-body dynamics simulation. The influence of the dynamic mass center  position change on the rollover stability of the mixer is analyzed. Then， based on the differential braking theory， a self-tuning PID anti-rollover control algorithm optimized by improved particle swarm optimization is proposed. The research results show that when considering the influence of the dynamic center of mass， the mixer truck is more likely to roll over; the self-tuning PID algorithm iterative optimization times is reduced by 33.3%， and the optimal control parameters can be found more quickly. Finally， the effectiveness of the proposed anti-rollover control algorithm is verified through angle step conditions and Fishhook conditions. The results show that the self-tuning PID control method can more effectively prevent the rollover of the mixer truck and improve the stability of the mixer truck.

Key words：mixer truck;dynamic center of mass;PID control;anti-rollover control

近年来，重型商用车由于侧翻事故造成的伤亡人数逐渐递增. 搅拌车作为一种特殊的重型商用车，一方面，质量大、质心高、车身较长，导致控制困难;另一方面，搅拌筒在行车过程中动态运转，带动混凝土使其重心向转动方向偏移，对底盘造成偏心载荷. 特别地，在转弯过程中，混凝土因其流动性及离心力的影响，造成载荷外移，且伴有动态冲击，速度稍……