Articulated wheeled loader vehicles have frequent rollover accidents as they operate in the complex outdoor environments. This article proposes an active anti-rollover control method based on a set of single-frame control moment gyro stabilizer installed on the rear body of the vehicle. The rollover dynamic model is first established for articulated wheeled loader vehicle with gyro stabilizer. The proposed control strategy is then applied in simulation to verify the rollover control effect on the vehicle under steady-state circumferential conditions. Finally, a home-built articulated wheel loader vehicle with gyro stabilizer is used to further verify the proposed control strategy. The results show that the vehicle can quickly return to the stable driving state and effectively avoid the vehicle rollover when a suitable anti-roll control moment can be provided by the gyro stabilizer. As a result, the articulated wheeled loader vehicle is able to operate safely in a complex outdoor environment.

中文翻译：

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使用陀螺稳定器对铰接式轮式装载机车辆进行主动防侧翻控制

铰接式轮式装载机在复杂的室外环境中运行时经常发生翻车事故。本文提出了一种基于安装在车辆后车身上的一套单框架控制力矩陀螺稳定器的主动防侧翻控制方法。首次建立了带陀螺稳定器的铰接式轮式装载机车辆的侧翻动力学模型。然后将所提出的控制策略应用于仿真，以验证在稳态周向条件下对车辆的侧翻控制效果。最后，使用带有陀螺稳定器的自制铰接式轮式装载机车辆进一步验证了所提出的控制策略。结果表明，当陀螺稳定器能够提供合适的防侧倾控制力矩时，车辆能够快速恢复到稳定行驶状态，有效避免车辆侧翻。因此，铰接式轮式装载机能够在复杂的室外环境中安全运行。