Abstract
Influenced by lateral liquid sloshing in partially filled tanks, tank vehicles are apt to encounter with rollover accidents. Due to its strong nonlinearity and loading state uncertainty, it has great challenges in tank vehicle active control. Based on the model-free adaptive control (MFAC) theory, the roll stability control problem of tank trucks with different tank shapes and liquid fill percentages is explored. First, tank trucks equipped with cylinder or elliptical cylinder tanks are modelled, and vehicle dynamics is analyzed. This dynamic model is used to provide I/O data in the controlled system. Next, the control objective of tank vehicle rollover stabilization is analyzed and the controlled variable is selected. Subsequently, differential braking and active front steering controller are designed by MFAC algorithm. Finally, the effectiveness of the designed controllers is verified by simulation, and difference between the controllers is analyzed. The controller designed by MFAC algorithm is proven to be adaptive to vehicle loading and driving states. The controlled system has great robustness.
Highlights
Tank vehicles are widely used in road transportation of liquid cargoes
As affected by liquid sloshing in partially filled tank, the tank vehicle usually has poor driving performance, especially rollover stability [1, 2]. e active control on it is of great significance
As an essential nonlinear system, the complex dynamic model renders it difficult for many control methods based on system dynamics to design the rollover stabilization controller
Summary
Tank vehicles are widely used in road transportation of liquid cargoes. As affected by liquid sloshing in partially filled tank, the tank vehicle usually has poor driving performance, especially rollover stability [1, 2]. e active control on it is of great significance. As an essential nonlinear system, the complex dynamic model renders it difficult for many control methods based on system dynamics to design the rollover stabilization controller. The control algorithm developed by model-based design strategy is poorly adaptive It is difficult for the model-based control method to achieve wide usage in practical application. Two common data-driven controllers, PID and fuzzy logic controller, had been studied by many researchers to achieve tank vehicle rollover and yaw stabilization. Erefore, the model-free adaptive control (MFAC) method, an online data-driven control method with good robustness and adaptability, is proposed to stabilize tank vehicle. A major conclusion about this research is given
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