Rollover Stability of Heavy-Duty AGVs in Turns Considering Variation in Friction Coefficient

Abstract

This study analysed the impact of turning rate, the centre of mass height, and road adhesion coefficient on the rollover stability of heavy-duty automated guided vehicles (AGVs) using a multi-body dynamics simulation model. The lateral deflection angle of the centre of mass was used as a metric to evaluate the rollover behaviour of the AGVs, and the results were obtained quantitatively. The findings showed that the turning rate had the largest impact on AGV rollover stability, followed by the centre of mass height, while the road adhesion coefficient had the least impact. Despite having the lowest impact, the road adhesion coefficient was one of the key factors contributing to AGV slippage, and severe slippage could easily lead to rollover incidents. To further evaluate the rollover behaviour of the AGVs, a lateral-load transfer rate (LTR) index was derived from the change in wheel load generated by the lateral tilt angle during steering. The range of LTR values was determined for different ranges of turning rate, the centre of mass height, and road adhesion coefficient. The results indicated that the range of LTR values for turning rate was 0.23–0.45, for the centre of mass height was 0.323–0.393, and the minimum value of 0.337 was obtained for a road adhesion coefficient of 0.6.