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1、Keywords:vehiclerollover,rollprevention,rollcontrol.(CebonD.,Lin,Sampson,Winkler,Stone,E.J.,Yoon)SolmazS.etal.[1]presentarobustPIcontrollerforvehiclerolloverpreventionutilizingactivesteeringofmechatronic-anglesuperpositiontype.Alinearizedbicyclemodelwitharolldegreeoffreedomisbuilt.Consid
2、eringtherolldynamics,anexactexpressionforthevehicleloadtransferratio(LTR)isputforward.Simulationshowsthattheproposedapproachworkswell.Butmoreworkneedstobedone.Themethodologyshallbeextendedtoincludedifferentialbraking,activesuspensionandcombinationsthereoftorefinerolloverpreventionstrateg
3、y,andanalyzetheresultingcontrolallocationproblem.MoreaboutrolloverpreventionsystemcanbefoundinreferencebyPancake,CorlessandBrockman.Sampson,D.J.M.etal.[2]discussageneralpurposenumericalmodel,suitableforsimulatingtheyaw-rollbehavioroftorsionallyfexibleheavygoodsvehicleswithanarbitraryarra
4、ngementofvehicleunits.Asingle-unitvehiclemodelwithsixdegreeoffreedomcanbefoundin[3]and[4]andmultiple-unitvehiclemodelin[5].Miegeetal.[6]presentanovelcomputer-controlledexperimentalvehiclewithmechanicalandhydraulichardwareoftheactiveanti-rollsystemwhichisdevelopedtoinvestigatethebenefitso
5、factiverollcontrolforheavyvehicleandthedistributedcontrolarchitectureisdetailed.Asimpleroll-planemodelisdevelopedandusedtodesignacontrollerbasedonlateralaccelerationfeedback.Powerrequirementsarealsoconsideredinthestudy.(payattentiontothereference)Stoneetal.[7]discussedthefullroll-in(FRI)
6、strategyandsteeraccelerationcontrolstrategyandthendevelopeda‘modalcontrolstrategy’toincreasethecriticallateralaccelerationwhilenotincreasingLTRatotherpointsinasemi-activeanti-rollsystemwithayaw/rollmodelofninedegreeoffreedom.ThemodalcontrolstrategyisabletoavoidincreasingLTRifthevehiclede
7、viatesfromitsexpectedcourse.However,therearesomerarecircumstanceswhereitisunabletoavoidincreasingLTR.Goldmanetal.[8]presentareviewofliteraturepertainingtovehicularrollover.Firstitintroducesdynamicsofrolloverofsimplerigidmodelandcompliantsuspensionmodel.Thenitcomestheartic
