Earthmoving vehicles, especially ones with articulated frame steering, are very vulnerable to rollover. Consequently many dangerous rollover accidents occur all around the world. This problem is not only caused by difficult operating conditions and high productivity requirements. The current standards in this area do not offer an acceptable method of assessing vehicle rollover stability. Furthermore, in the previous literature there have been no research on rollover stability of increasingly common unconventional undercarriage systems, equipped with inclined/virtual oscillation and steering axes. In response to the above-mentioned situation, an innovative test vehicle, whose undercarriage system can be optionally selected (including unconventional solutions), was designed and built. The experimental stand consisted of a rotary-tilting platform equipped in wheel weighting pads and a two-axis inclinometer. Completely new experimental results were presented, proving a strong influence of unconventional undercarriage system on vehicle rollover stability. Moreover, the extensive experimental investigation was used to derive and validate an accurate and universal mathematical model, enabling to calculate and improve the rollover stability of any four-wheeled vehicle. It was also shown that a geometrical optimisation of an unconventional undercarriage system permits an increase in rollover stability—even up to several dozen percentage relative to the conventional solutions.

中文翻译：

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确定和提高具有任意起落架系统设计的四轮土方车辆侧翻稳定性的数学模型

土方车辆，特别是具有铰接式车架转向的土方车辆，很容易翻车。因此，世界各地发生许多危险的翻车事故。此问题不仅是由困难的操作条件和较高的生产率要求引起的。该领域的当前标准无法提供评估车辆侧翻稳定性的可接受方法。此外，在先前的文献中，没有关于装备有倾斜/虚拟振动和转向轴的越来越普遍的非常规底盘系统的侧翻稳定性的研究。针对上述情况，设计并制造了一种创新的测试车辆，其底盘系统可以选择（包括非常规解决方案）。实验台由一个装有车轮加重垫的旋转倾斜平台和一个两轴测斜仪组成。提出了全新的实验结果，证明了非常规起落架系统对车辆侧翻稳定性的强烈影响。此外，广泛的实验研究被用来推导和验证准确而通用的数学模型，从而能够计算和改善任何四轮车辆的侧翻稳定性。还显示出，非常规底盘系统的几何优化可提高侧翻稳定性-相对于传统解决方案甚至提高了几十个百分点。证明了非常规底盘系统对车辆侧翻稳定性的强大影响。此外，广泛的实验研究被用来推导和验证准确而通用的数学模型，从而能够计算和改善任何四轮车辆的侧翻稳定性。还显示出，非常规底盘系统的几何优化可提高侧翻稳定性-相对于传统解决方案甚至提高了几十个百分点。证明了非常规底盘系统对车辆侧翻稳定性的强大影响。此外，广泛的实验研究被用来推导和验证准确而通用的数学模型，从而能够计算和改善任何四轮车辆的侧翻稳定性。还显示出，非常规底盘系统的几何优化可提高侧翻稳定性-相对于传统解决方案甚至提高了几十个百分点。