基于TTR的轻型森林消防车侧翻预警系统研究  

Study on Rollover Warning System for Light Forest Fire Engines Based on TTR

作　　者：何佼容 陈劭[1] 徐向波[1] HE Jiao-rong;CHEN Shao;XU Xiang-bo(School of Technology,Beijing Forestry University,Beijing 100083,China)

机构地区：[1]北京林业大学工学院,北京100083

出　　处：《林业机械与木工设备》2019年第4期15-20,共6页Forestry Machinery & Woodworking Equipment

基　　金：中国博士后科学基金特别资助项目(2018T110055);面上资助项目(2016M600051);国家自然科学基金资助项目(51605031)

摘　　要：为提高森林消防车的主动安全性能,降低抢险救灾中的事故发生率,深入研究了基于TTR的森林消防车侧翻预警系统。首先,采用基于侧翻时间(Time to Rollover,TTR)的动态侧翻预警算法,以车辆的实时侧倾角及其角速度为输入变量,以动态横向载荷转移率(Lateral-Load Transfer Ratio,LTR)作为侧翻判定指标。其次,在CarSim中建立森林消防车动力学模型,在Matlab/Simulink中搭建预警算法,针对典型鱼钩转向工况进行CarSim和Matlab/Simulink的非绊倒型侧翻联合模拟仿真,得到满意仿真结果。最后,应用惯导元件MPU6050和STM32单片机自主开发了侧翻预警系统,并参考国标GB/T 6323-2014开展蛇形试验,试验表明:该侧翻预警系统得到的风险趋势符合实际情况,能辅助驾驶员判断侧翻风险。综上所述,本侧翻预警系统的研究,可有效地提高森林消防车的主动安全性。In order to improve the active safety performance of forest fire engines and reduce the incidence of accidents in rescue and disaster relief,a forest fire engine rollover warning system based on TTR was studied in this paper.Firstly,a dynamic rollover early warning algorithm based on Time to Rollover(TTR)was adopted.The real-time rollover angle and rollover rate were taken as the input variables of the algorithm,and the Lateral-Load Transfer Ratio(LTR)was taken as the rollover determination index.Secondly,the dynamic model of forest fire engine was established in CarSim,and the early warning algorithm was built in Matlab/Simulink.The joint simulation in CarSim and Matlab/Simulink was carried out for typical fishhook steering conditions.Satisfactory simulation results were obtained.Finally,the rollover warning system was developed independently based on MPU6050 and STM32,and a snake test was carried out with reference to the national standard GB/T 6323-2014.The test results showed that the risk trend obtained by the rollover warning system was in line with the actual situation,which can assist drivers in judgingthe rollover risk and improve the active safety of forest fire engines.In summary,this rollover early warning system can effectively improve the active safety of forest fire engines.

关 键 词：森林消防车 侧翻预警 TTR算法 惯导技术 

分 类 号：S776[农业科学—森林工程] U461.91[农业科学—林学]