Vehicle wind vibration resistance stabilizing system based on liquid balance weight and damping dynamic optimization

Abstract

The invention relates to the technical field of vehicle wind vibration resistance stabilization, and discloses a vehicle wind vibration resistance stabilization system based on liquid balance weight and damping dynamic optimization, which comprises a vehicle body, a liquid balance weight system, an active damping system, a sensor group and a controller, the liquid balance weight system comprises a liquid storage tank, a water conveying pipeline, a water pump and a plurality of balance weight liquid bags, the liquid storage tank is fixed to the bottom of the vehicle body, one end of the water conveying pipeline is fixedly arranged on a connecting port of the liquid storage tank, the other end of the water conveying pipeline is fixedly arranged on a connecting port of the balance weight liquid bag, and the water pump is fixedly arranged on the water conveying pipeline. The active damping system comprises a plurality of dampers. According to the invention, through the liquid counterweight system, the controller is used for controlling the operation of the water pump in real time, so that the problem that the gravity center of the vehicle shifts because the vehicle cannot adapt to the real-time wind load change because the wind vibration resistance of the existing vehicle mostly depends on a fixed counterweight block or a mechanical counterweight structure is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle anti-wind vibration stability, and particularly to a vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping. Background Art

[0002] In the field of construction, especially during the concrete pouring process of bridges, adverse weather such as wind and rain has a significant impact on construction quality and efficiency. Currently, for preventing wind and rain during concrete pouring and controlling the stability of equipment, the existing technology mainly realizes it through manual or semi-automatic awning covering devices combined with fixed counterweights, passive damping, etc. For example, in traditional construction, awnings are often manually laid to cover the pouring area, and fixed counterweight blocks or simple mechanical structures are relied on to maintain the balance of the equipment.

[0003] Existing vehicle anti-wind vibration mostly relies on fixed counterweight blocks or mechanical counterweight structures, and cannot dynamically adjust the center of gravity according to real-time wind loads, thus easily causing the problem that the vehicle's center of gravity deviates due to the inability to adapt to real-time wind load changes. Summary of the Invention

[0004] Aiming at the deficiencies of the existing technology, the present invention provides a vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping, which solves the problem that existing vehicle anti-wind vibration mostly relies on fixed counterweight blocks or mechanical counterweight structures and cannot dynamically adjust the center of gravity according to real-time wind loads, thus easily causing the problem that the vehicle's center of gravity deviates due to the inability to adapt to real-time wind load changes.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping, including a vehicle body, a liquid counterweight system, an active damping system, a sensor group, and a controller. The liquid counterweight system includes a liquid storage tank, a water pipeline, a water pump, and a plurality of counterweight liquid bags. The liquid storage tank is fixed at the bottom of the vehicle body. One end of the water pipeline is fixedly arranged at the connection port of the liquid storage tank, and the other end is fixedly arranged at the connection port of the counterweight liquid bag. The water pump is fixedly arranged on the water pipeline; The active damping system includes a plurality of dampers, and the dampers are respectively arranged between the wheels and the frame of the vehicle body; The sensor group includes a wind speed sensor, a wind direction sensor, an acceleration sensor, and a gyroscope. The wind speed sensor and the wind direction sensor are fixedly arranged on the top of the vehicle body, and the acceleration sensor and the gyroscope are arranged on the frame; The controller is electrically connected to the liquid counterweight system, the active damping system, and the sensor group respectively. The controller is used to receive the detection signals of the sensor group and control the operation of the water pump and the damping coefficient of the damper.

[0006] By adopting the above technical solution, using a liquid counterweight system and a controller to control the operation of the water pump in real time, it is possible to dynamically adjust the distribution of the counterweight liquid at the four corners of the vehicle body according to data such as wind speed, wind direction, and vehicle attitude detected by the sensor group, realizing real-time offset and balance of the center of gravity. Thus, it improves the problem that the existing vehicle's anti-wind vibration mainly relies on fixed counterweight blocks or mechanical counterweight structures and cannot dynamically adjust the center of gravity according to real-time wind loads, which is likely to cause the vehicle's center of gravity to shift due to the inability to adapt to real-time wind load changes.

[0007] Preferably, the counterweight liquid bags are arranged at the four corners of the vehicle body. Each counterweight liquid bag is connected to the liquid storage tank through an independent water delivery pipeline, and a flow control valve is arranged on each water delivery pipeline. The flow control valve is electrically connected to the controller.

[0008] Preferably, the damper is a magnetorheological damper or an electro-hydraulic servo damper, and the damping coefficient of the damper can be adjusted in real time by the controller.

[0009] Preferably, the sensor group further includes a pressure sensor. The pressure sensor is arranged at the contact between the wheel and the ground for detecting the grounding pressure of the wheel. The pressure sensor is electrically connected to the controller.

[0010] Preferably, a wind vibration stability control algorithm is pre-stored in the controller. The control algorithm includes a model predictive control algorithm and a reinforcement learning algorithm. The controller calculates the operation parameters of the water pump and the damping coefficient of the damper through the control algorithm.

[0011] Preferably, it further includes a three-vehicle accompanying system. The three-vehicle accompanying system includes a leading vehicle, a following vehicle, and a support vehicle. The leading vehicle, the following vehicle, and the support vehicle are all provided with the liquid counterweight system, the active damping system, the sensor group, and the controller. The leading vehicle, the following vehicle, and the support vehicle are connected through a wireless communication module for realizing the coordinated control of the three vehicles.

[0012] Preferably, it further includes an automatic telescopic awning system. The automatic telescopic awning system includes an awning bracket, a telescopic driving mechanism, and an awning cloth. The awning bracket is arranged on the top of the vehicle body. The telescopic driving mechanism is connected to the awning bracket for driving the expansion and contraction of the awning bracket. The awning cloth covers the awning bracket. The telescopic driving mechanism is electrically connected to the controller.

[0013] Preferably, the awning cloth is made of PVC material that can be thermally cut and thermally bonded. The thickness of the PVC material is 0.3 - 0.5 mm, and the edge of the awning cloth is connected with a reinforcing rib through a thermal bonding process.

[0014] Preferably, it further includes a resonance avoidance system, which includes a vibration sensor and a frequency adjustment module. The vibration sensor is arranged on the vehicle body for detecting the vibration frequency of the vehicle body. The frequency adjustment module is electrically connected to the controller. The controller changes the natural frequency of the vehicle body by adjusting the distribution of the counterweight liquid of the liquid counterweight system and the damping coefficient of the active damping system, so as to avoid resonance with the external wind vibration frequency.

[0015] A control method for a vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping includes the following steps: S1. The controller receives the wind speed and wind direction data detected by the sensor group; S2. The controller calculates the adjustment angles of the front spoiler, side skirts and rear spoiler according to a preset aerodynamic model; S3. The controller sends a control signal to the electric adjustment mechanism to drive the front spoiler, side skirts and rear spoiler to adjust the angles. The front spoiler is arranged at the front end of the vehicle body, the side skirts are arranged on both sides of the vehicle body, and the rear spoiler is arranged at the rear end of the vehicle body. The front spoiler, side skirts and rear spoiler are all connected to the vehicle body through the electric adjustment mechanism.

[0016] The present invention provides a vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping. It has the following beneficial effects: 1. In the present invention, through the liquid counterweight system, the controller controls the operation of the water pump in real time, and can dynamically adjust the distribution of the counterweight liquid at the four corners of the vehicle body according to the data such as wind speed, wind direction and vehicle attitude detected by the sensor group, so as to realize the real-time offset and balance of the center of gravity, thereby improving the problem that the existing vehicle anti-wind vibration mostly relies on fixed counterweight blocks or mechanical counterweight structures and cannot dynamically adjust the center of gravity according to the real-time wind load, resulting in the problem that the vehicle center of gravity is easily offset due to the inability to adapt to the real-time wind load change.

[0017] 2. In the present invention, by setting a resonance avoidance system, the vibration sensor is used to detect the vibration frequency of the vehicle body, and the liquid counterweight system and the active damping system are adjusted in cooperation with the frequency adjustment module and the controller, so as to solve the problem of resonance blind area existing in the traditional anti-wind vibration system, improve the reliability of the vehicle and equipment in a complex vibration environment, realize wide-frequency vibration avoidance protection and multi-modal vibration suppression, and extend the structural fatigue life.

[0018] 3. In the present invention, by pre-storing the model predictive control (MPC) and reinforcement learning (RL) algorithms in the controller, the problems of control lag and cumbersome parameter calibration of the traditional anti-wind vibration system are solved, the adaptability of the system to a complex wind field is improved, the forward-looking control strategy and adaptive environment learning are realized, the attitude adjustment delay is reduced, and the universality of engineering application is enhanced.

[0019] 4. In the present invention, by setting up a three-vehicle accompanying system and using a wireless communication module to achieve three-vehicle collaborative control, the problems of limited anti-wind vibration ability of a single vehicle and low construction efficiency are solved, the energy consumption and stability of the vehicle fleet under strong winds are improved, overall aerodynamic optimization of the vehicle fleet and automation of the construction process are achieved, the construction efficiency in the plum rain season is increased, and queue imbalance is prevented.

[0020] 5. In the present invention, by adopting an automatic telescopic awning system and selecting a PVC material that can be thermally cut and thermally bonded to make the awning cloth and connecting a reinforcing rib to the edge, the problems of large wind resistance, easy damage, and poor rainproof sealing of the traditional awning are solved, the aerodynamic performance and rainproof effect of the vehicle in the driving and operating states are improved, intelligent rainproof and low wind resistance switching are achieved, and the durability and sealing of the awning are enhanced.

[0021] 6. In the present invention, by adding a pressure sensor at the contact between the wheel and the ground and electrically connecting it to the controller, the problem of stability hidden danger caused by factors such as uneven load or uneven road surface of the vehicle is solved, the controllability of the vehicle on a slippery road surface or in a strong wind environment is improved, load balance adjustment and tire adhesion optimization are achieved, and the safety of the vehicle under extreme working conditions is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of the system route of the present invention; Figure 2 is a schematic diagram of the system control method of the present invention; Figure 3 is a schematic diagram of the method steps of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] Please refer to the attached Figure 1 - attached Figure 2 , the embodiment of the present invention provides a vehicle anti-wind vibration and stability system based on liquid weight and damping dynamic optimization, including a vehicle body, a liquid weight system, an active damping system, a sensor group, and a controller. The liquid weight system includes a liquid storage tank, a water delivery pipeline, a water pump, and a plurality of weight liquid bags. The liquid storage tank is fixed at the bottom of the vehicle body. One end of the water delivery pipeline is fixedly arranged at the connection port of the liquid storage tank, and the other end is fixedly arranged at the connection port of the weight liquid bag. The water pump is fixedly arranged on the water delivery pipeline; The active damping system includes a plurality of dampers, and the dampers are respectively arranged between the wheels and the vehicle frame of the vehicle body; Sensor group, including a wind speed sensor, a wind direction sensor, an acceleration sensor and a gyroscope. The wind speed sensor and the wind direction sensor are fixedly arranged on the top of the vehicle body, and the acceleration sensor and the gyroscope are arranged on the vehicle frame; Controller, electrically connected to the liquid counterweight system, the active damping system and the sensor group respectively. The controller is used to receive the detection signals of the sensor group and control the operation of the water pump and the damping coefficient of the damper.

[0025] Specifically, in environments such as strong winds or complex road conditions, vehicles are easily affected by external forces, causing the center of gravity to shift, resulting in the risk of tilting or overturning. When the vehicle is affected by crosswinds, the wind speed sensor and wind direction sensor in the sensor group will monitor the wind force changes in real time and transmit the data to the controller. The controller calculates the position of the vehicle's center of gravity that needs to be adjusted based on this data, and then controls the water pump to work. The water pump transports the liquid in the storage tank to the counterweight liquid bag at the corresponding position through the water pipeline, changes the local mass distribution of the vehicle, and adjusts the center of gravity of the vehicle in the direction of offsetting the influence of crosswinds, keeps the vehicle balanced and stable, and avoids loss of control; vibrations and uneven ground factors in complex environments will interfere with the normal operation of the vehicle and affect the quality of concrete pouring. The liquid counterweight system can be used Adjust the counterweight in real time to reduce the impact of these interferences on the vehicle. For example, when the vehicle encounters bumps on the ground during driving, the acceleration sensor will detect the vibration of the vehicle. The controller controls the water pump to adjust the amount of liquid in the counterweight liquid bag according to the sensor data, so that the vehicle can remain stable during vibration, reduce the concrete pouring error caused by vibration, and ensure the construction quality; the liquid counterweight system works together with the active damping system, the sensor group and the controller to jointly improve the vehicle's anti-wind vibration performance. It provides a stable foundation for the active damping system. The two work together to better cope with external disturbances. When the vehicle is affected by wind and vibration, the liquid counterweight system adjusts the vehicle's center of gravity, and the active damping system suppresses the vehicle's vibration by adjusting the damping coefficient. The two work together to ensure the stability of the vehicle. When the vehicle is driving or operating, it will be subject to vibrations caused by factors such as uneven road surface and wind. The damper between the wheel and the frame can convert the vibration energy into other forms of energy such as heat and consume it, thereby effectively attenuating the vibration amplitude. For example, when passing through uneven roads, the damper can quickly suppress the up and down bouncing of the wheel caused by road bumps, reduce the vibration transmission to the frame and construction equipment, ensure the stability of the concrete pouring process, avoid pouring errors caused by vibration, and ensure construction quality. In windy weather, the vehicle is prone to shaking, rolling and other unstable conditions due to the action of wind. The damper of the active damping system can adjust the damping force in real time. When the vehicle tends to roll, the damper on the corresponding side increases the damping force to prevent the side from rolling. The tilt is further developed to keep the vehicle in a stable posture. Combined with the wind data detected by wind speed sensors, wind direction sensors, etc., the controller can accurately control the operation of the damper, and cooperate with the liquid counterweight system to enhance the vehicle's wind resistance in complex wind fields, prevent the vehicle from losing control or overturning, and ensure construction safety. The dynamic response characteristics of the vehicle under different working conditions are crucial to its stability and controllability. The active damping system can adjust the damping parameters in real time according to the vehicle's motion state and optimize the vehicle's dynamic response. During the vehicle's start-up, acceleration, braking, etc., the damper adjusts the damping force according to the data detected by the acceleration sensor, gyroscope, etc., making the vehicle's posture changes more stable, reducing the instability factors caused by dynamic changes, and improving the overall performance and safety of the vehicle.The wind speed sensor and the wind direction sensor are fixed on the top of the vehicle body, which can obtain the wind force information around the vehicle in real time. During construction in windy weather, these sensors can detect the changes in wind speed and wind direction in a timely manner and transmit the data to the controller. The controller makes an early response based on these data. For example, by adjusting the angle of the aerodynamic kit, the influence of the wind on the vehicle can be reduced; or by controlling the liquid ballast system and the active damping system, the center of gravity and damping force of the vehicle can be adjusted to ensure that the vehicle remains stable when the wind speed changes, avoiding equipment out-of-control or overturning caused by the wind force and ensuring construction safety. The acceleration sensor and the gyroscope are set on the vehicle frame to accurately sense the motion state of the vehicle itself. The acceleration sensor can detect the acceleration change of the vehicle to judge whether the vehicle is subjected to external force impact or in an unstable motion state. The gyroscope can monitor the attitude changes of the vehicle in real time, such as tilt angle, rotational angular velocity, etc. During the vehicle driving process, if it encounters uneven road surface or other external force interference, the acceleration sensor and the gyroscope can timely feedback the information of the vehicle's attitude and acceleration change to the controller. The controller controls the liquid ballast system to dynamically adjust the mass distribution of the vehicle body accordingly, and at the same time adjusts the damping coefficient of the active damping system, so that the vehicle can maintain stable operation under various environmental changes and reduce the impact of vibration on the construction quality. The data collected by the sensor group provides a basis for the intelligent control of the entire vehicle anti-wind and vibration stability system. Through the comprehensive analysis of multi-faceted data such as wind speed, wind direction, acceleration and attitude, the controller can use optimization algorithms (such as Model Predictive Control MPC, Reinforcement Learning RL, etc.) to achieve precise control of each system of the vehicle. In terms of resonance avoidance, the controller combines the vibration sensor data, judges the relationship between the vibration frequency of the vehicle and the external wind frequency according to the wind speed sensor and gyroscope data, and avoids the occurrence of resonance phenomenon by adjusting the natural frequency of the vehicle and the awning, reducing mechanical damage and potential safety hazards, and improving the stability and durability of the equipment. The controller receives the data such as wind speed, wind direction, acceleration, vehicle attitude, etc. monitored by the sensor group in real time, analyzes and processes them according to the preset algorithms (such as Model Predictive Control MPC, Reinforcement Learning RL, etc.). Based on these data, the controller accurately controls the operation of the water pump, adjusts the flow speed and direction of the ballast liquid in the liquid ballast system, and dynamically adjusts the mass distribution of the vehicle body to keep the center of gravity of the vehicle in a stable state all the time. When the sensor detects that the vehicle has a tendency to tilt due to side wind, the controller controls the water pump to quickly transfer the ballast liquid to the corresponding position to balance the center of gravity of the vehicle and prevent rollover. At the same time, the controller adjusts the damping coefficient of the damper in the active damping system in real time according to the vehicle motion state and external interference conditions, effectively suppressing the vehicle vibration and enhancing the vehicle stability, ensuring that the construction equipment can operate stably under different working conditions and avoiding affecting the concrete pouring quality due to vibration and center of gravity offset.By electrically connecting each system, the controller enables the liquid counterweight system, the active damping system, and the sensor group to form a closely collaborating whole. The information obtained by the sensor group is quickly transmitted to the controller, and the controller makes rapid decisions based on this information, synchronously controlling the liquid counterweight system and the active damping system to respond. When encountering sudden strong winds, the sensor group instantly transmits the data of wind speed and wind direction changes to the controller, and the controller immediately adjusts the water pump and the damper, enabling the vehicle to quickly adapt to the wind force changes and maintain stability. This greatly improves the system's coordination and response speed, reduces the impact of external interference on the vehicle, and ensures the continuity and safety of the construction process. The controller combines the data of the sensor group, especially the vehicle vibration frequency detected by the vibration sensor and the external wind frequency information obtained by the wind speed sensor. By controlling the liquid counterweight system and the active damping system, it dynamically adjusts the natural frequencies of the vehicle and the awning. When it detects that the vehicle's natural frequency is close to the external wind frequency, the controller timely adjusts the counterweight and damping to avoid the occurrence of resonance phenomena, reduce the risk of mechanical damage, and improve the stability and durability of the equipment. At the same time, on the premise of ensuring the vehicle's stability, the controller optimizes the control algorithm to balance the vehicle's stability, the awning's protection performance, and energy efficiency, realizing the optimization of the overall system performance, improving the construction efficiency, and reducing energy consumption.

[0026] The counterweight liquid bags are arranged at the four corners of the vehicle body. Each counterweight liquid bag is connected to the liquid storage tank through an independent water delivery pipeline, and a flow control valve is arranged on each water delivery pipeline. The flow control valve is electrically connected to the controller.

[0027] Specifically, when the vehicle is subjected to external forces in different directions, such as in strong wind weather, the crosswind will cause the vehicle to have a tendency to roll. At this time, the sensor group detects the change in the vehicle's attitude and transmits the signal to the controller. The controller calculates the amount of liquid that needs to be supplemented or released in each counterweight liquid bladder according to a preset algorithm. Since each counterweight liquid bladder is connected to the liquid storage tank through an independent water pipeline and there is a flow control valve on the pipeline, the controller can accurately control the opening degree of each flow control valve respectively, adjust the liquid flow rate flowing into or out of the counterweight liquid bladder, thereby changing the mass distribution at the four corners of the vehicle body. For example, when the vehicle tilts to the left, the controller controls the counterweight liquid bladder on the left to increase the liquid amount, increasing the weight on the left, moving the vehicle's center of gravity to the left, balancing the lateral force generated by the crosswind, ensuring that the vehicle remains stable, avoiding rollover, and guaranteeing the safety of construction equipment; during the driving or operation of the vehicle, it will be interfered by various complex factors, such as road surface bumps, wind force changes, etc. The design of independent water pipelines and flow control valves enables the controller to adjust the liquid amount in the counterweight liquid bladder in real time according to the vehicle vibration and attitude changes detected by acceleration sensors, gyroscopes, etc. When the vehicle passes through an uneven road surface, the impact forces received by different parts of the vehicle are different, which may cause the vehicle to shake. At this time, the controller adjusts the corresponding counterweight liquid bladder through the flow control valve to compensate for the change in the center of gravity caused by the road surface bumps, reduce the amplitude of vehicle shaking, cooperate with the active damping system, effectively improve the anti-interference ability and stability of the vehicle in a complex environment, reduce the impact of vibration on concrete pouring, and ensure the construction quality; different construction scenarios and operation requirements have different demands on the vehicle stability. During the concrete pouring process, the driving speed, steering operation, etc. of the vehicle will all affect the vehicle stability. This design enables the vehicle to quickly adapt to these changes. By the controller's flexible control of the flow control valve, the counterweight is adjusted according to the vehicle's real-time state. When the vehicle turns, the controller controls the counterweight liquid bladders on the inner and outer sides of the turn to adjust the liquid amount, increasing the weight on the outer side of the turn, improving the vehicle stability during turning, preventing the vehicle from skidding, and ensuring that the vehicle can operate stably under various working conditions and scenarios, improving the construction efficiency and safety.

[0028] The damper is a magnetorheological damper or an electro-hydraulic servo damper, and the damping coefficient of the damper can be adjusted in real time by the controller.

[0029] Specifically, in different construction environments, the vibration and impact conditions faced by the vehicle vary greatly. The magnetorheological damper or the electro-hydraulic servo damper can quickly respond to external changes under the real-time adjustment of the controller. When the vehicle encounters strong wind weather, the changes in wind speed and direction will cause the vehicle to sway and vibrate to varying degrees. The controller adjusts the damping coefficient of the damper in real time according to the data such as wind speed, wind direction, and vehicle attitude transmitted by the sensor group. If the increase in wind force leads to more intense vehicle vibration, the controller increases the damping coefficient, enabling the damper to provide a greater damping force, effectively suppressing vehicle vibration, ensuring the vehicle remains stable under complex wind conditions, and guaranteeing construction safety; during vehicle driving, factors such as uneven road surfaces and equipment operation will cause vehicle vibration, affecting the quality of concrete pouring. The magnetorheological damper and the electro-hydraulic servo damper can precisely control the vibration amplitude under the regulation of the controller. For example, when the acceleration sensor detects that the vehicle generates large vibrations due to road bumps, the controller accurately adjusts the damping coefficient of the damper according to the frequency and amplitude of the vibration, enabling the damper to provide appropriate damping forces at different stages of the vibration. It quickly suppresses the vibration amplitude at the initial stage of vibration and reasonably adjusts the damping force during the vibration attenuation stage, ensuring the vehicle runs smoothly, reducing the impact of vibration on the concrete pouring process, and guaranteeing construction quality; when working in coordination with a liquid counterweight system, etc., it can enhance the overall stability of the vehicle. During vehicle turning, accelerating, or decelerating, forces in different directions will be generated, resulting in the transfer of the vehicle's center of gravity and changes in attitude. The controller simultaneously adjusts the liquid counterweight system and the damper according to the vehicle state information detected by gyroscopes, acceleration sensors, etc. By adjusting the damping coefficient of the damper and coordinating with the adjustment of the vehicle's center of gravity by the liquid counterweight system, the vehicle maintains balance during dynamic driving, improves the stability of the vehicle under various working conditions, reduces the safety risks caused by vehicle instability, and enhances the reliability of the entire system.

[0030] The sensor group further includes a pressure sensor, which is arranged at the contact between the wheel and the ground and is used to detect the ground pressure of the wheel. The pressure sensor is electrically connected to the controller.

[0031] Specifically, the pressure sensors monitor the wheel ground pressure in real time, providing accurate information on the vehicle load distribution for the system. During the construction process, the distribution of the concrete weight carried by the vehicle and the weight of the equipment itself will change with the operation conditions. When more concrete is loaded on one side of the vehicle, the ground pressure of the corresponding wheel will increase. The pressure sensors transmit the pressure change data to the controller in real time. Based on this, the controller can accurately judge the vehicle load distribution situation, and then, combined with other sensor data, such as the vehicle attitude information detected by the acceleration sensor, precisely control the liquid counterweight system to adjust the vehicle body mass distribution, ensure that the vehicle center of gravity is in a reasonable position, maintain vehicle balance, prevent the vehicle from tilting or rolling over due to uneven load, and guarantee construction safety; in a strong wind environment, the force of the wind on the vehicle will change the wheel ground pressure distribution. The change in the ground pressure detected by the pressure sensors enables the controller to comprehensively understand the vehicle's force state in the wind. When a crosswind acts on the vehicle, the ground pressure of the wheels on the windward side may decrease, and the ground pressure of the wheels on the leeward side may increase. After obtaining this pressure data, the controller, combined with the data from the wind speed and wind direction sensors, more precisely controls the active damping system and the liquid counterweight system. For example, increasing the damping coefficient of the damper on the leeward side while adjusting the liquid counterweight to increase the weight on the windward side, effectively offsetting the influence of the crosswind and enhancing the vehicle's stability in strong winds, avoiding the vehicle from getting out of control or capsizing due to the wind force; during vehicle driving, the unevenness of the road surface will also cause fluctuations in the wheel ground pressure. The pressure sensors promptly capture this fluctuation information and transmit it to the controller. The controller adjusts the active damping system in real time according to the pressure change situation to optimize the vehicle's shock absorption effect. When the vehicle passes through a potholed road surface, the pressure sensors detect an instantaneous change in the wheel ground pressure, and the controller quickly adjusts the damping coefficient of the damper, enabling the vehicle suspension system to better adapt to the road conditions, reducing vehicle jolts, and improving the vehicle driving stability and comfort. This can not only reduce equipment wear but also ensure the continuity and accuracy of the concrete pouring process and guarantee construction quality.

[0032] The controller pre-stores a wind vibration stability control algorithm, and the control algorithm includes a model predictive control algorithm and a reinforcement learning algorithm. The controller calculates the operating parameters of the water pump and the damping coefficient of the damper through the control algorithm.

[0033] Specifically, the model predictive control algorithm (MPC) enables the controller to predict the vehicle's motion state in the next period of time based on the vehicle's current state and real-time data from the sensor group, combined with the pre-established vehicle dynamics model. In a strong wind environment, the wind speed and direction are constantly changing. The MPC algorithm predicts the influence trend of the wind on the vehicle according to the data from the wind speed sensor and wind direction sensor, and calculates in advance the operating parameters of the water pump and the damping coefficient of the damper. When it is predicted that the wind speed will increase and the vehicle may roll over, the controller controls the water pump in advance to adjust the flow of the counterweight liquid, change the vehicle's center of gravity, and at the same time adjust the damping coefficient of the damper to enhance the vehicle's anti-roll ability, realizing intelligent and precise control of the vehicle's anti-wind vibration and ensuring the vehicle's stability in complex wind conditions; The reinforcement learning algorithm (RL) enables the controller to learn the optimal control strategy through continuous interaction with the vehicle's operating environment. In different construction scenarios and weather conditions, the wind vibration situation faced by the vehicle is complex and changeable. The RL algorithm enables the controller to continuously optimize the control strategy according to the vehicle's real-time feedback, such as the vehicle attitude changes detected by the acceleration sensor and gyroscope, and the wheel ground pressure changes detected by the pressure sensor. Over time, the controller gradually learns the most suitable water pump operating parameters and damper damping coefficients under various wind vibration conditions, improving the system's adaptability. After experiencing different intensities of crosswinds multiple times, the controller learns more effective control parameters through the RL algorithm, enabling the vehicle to respond faster and more stably when encountering similar wind conditions in the future, and enhancing the vehicle's anti-wind vibration performance in complex environments; Combining the MPC and RL algorithms, the controller comprehensively considers multiple objectives such as vehicle stability, energy consumption, and response speed. When adjusting the water pump operating parameters and damper damping coefficients, it not only pays attention to the anti-wind vibration stability of the vehicle, but also takes into account the energy consumption of the system. For example, on the premise of meeting the vehicle's anti-wind vibration requirements, the controller optimizes the algorithm to enable the water pump to achieve reasonable distribution of the counterweight liquid with the minimum energy consumption, and at the same time enables the damper to reduce unnecessary energy consumption on the basis of effectively suppressing vibration. Through this multi-objective optimization, the overall performance of the system is improved, ensuring that the vehicle improves energy utilization efficiency and reduces operating costs while guaranteeing construction safety and quality; MPC (Model Predictive Control) related mathematical formulas: Total objective equation: is the tilt angle of the vehicle at time (indicating the vehicle body stability); is the position of the vehicle's center of gravity at time ; is the change rate of the liquid flow rate (controlling the counterweight adjustment of the vehicle body); are the coefficients for adjusting the weights, respectively representing the contributions of the tilt angle, center of gravity position, and liquid flow rate to the objective function.

[0034] Constraint condition formula: Inclination angle constraint: . This ensures that the inclination angle of the vehicle body does not exceed the maximum limit, ensuring its safety within a certain range.

[0035] Liquid flow rate limit: This ensures that the change rate of the liquid flow rate is neither too fast nor too slow, avoiding excessive adjustment of the system and ensuring system stability.

[0036] Center of gravity position constraint: This ensures that the center of gravity of the vehicle body does not shift beyond the maximum allowable range, avoiding instability caused by excessive center of gravity shift.

[0037] Related formulas: Center of gravity position calculation formula: Vehicle body inclination angle calculation formula: represents the change in the position of each liquid level unit; represents the total weight of the vehicle body at time t; are the displacements of the vehicle body in the X and Y axis directions (which can be obtained through an accelerometer); Related mathematical formulas for the real-time optimization control system: Total objective equation:

[0038] are the coefficients for adjusting the weights, respectively representing the contributions of the inclination angle, center of gravity position, and liquid flow rate to the objective function; is the optimization objective for vehicle body stability; is the objective for resonance avoidance; is the energy consumption objective, representing the energy consumption for liquid flow regulation; Related formulas:

[0039] is the natural frequency of the system is the frequency of the external wind;

[0040] is the inclination angle at time representing the stability of the vehicle body; is the time window for dynamic adjustment within a certain period of time; is the center of gravity of the vehicle body at time The position at [time] reflects the influence of the vehicle body mass distribution on stability; The change rate of the liquid flow rate, indicating that the stability of the vehicle body is controlled by adjusting the liquid counterweight

[0041] (System natural frequency) is the mass of the vehicle and the awning at time with dynamic changes: is the stiffness of the vehicle and the awning, which also changes over time (e.g., by changing the stiffness or material distribution of the brackets); Constraint condition formula:

[0042]

[0043] It also includes a three-vehicle accompanying system. The three-vehicle accompanying system includes a leading vehicle, a following vehicle, and a support vehicle. The leading vehicle, the following vehicle, and the support vehicle are all provided with a liquid counterweight system, an active damping system, a sensor group, and a controller. The leading vehicle, the following vehicle, and the support vehicle are connected through a wireless communication module for realizing the coordinated control of the three vehicles.

[0044] Specifically, in the concrete pouring construction, the leading vehicle is responsible for the concrete pouring work. The following vehicle and the support vehicle carry canopies. After the leading vehicle finishes pouring, the latter two vehicles can quickly follow up and cover the poured area. This process is achieved through the collaborative control among the three vehicles, greatly shortening the time from concrete pouring to covering, avoiding the pollution of the wet concrete by rainfall, reducing manual operation links and time delays, and significantly improving the construction efficiency. At the same time, the sensor groups of each of the three vehicles continuously monitor the vehicle status, and the controller coordinates the driving speed, position, etc. of the three vehicles based on this data to ensure the efficient and orderly progress of the entire pouring and covering process. The three-vehicle accompanying system can effectively prevent rainwater from eroding the concrete and ensure the concrete quality. In the plum rain season or in slightly bad weather, rainfall will affect the concrete quality, resulting in construction period delays and economic losses. In the three-vehicle accompanying system, the canopies of the latter two vehicles can quickly cover after pouring is completed, providing timely rain protection for the concrete. Moreover, the liquid counterweight system, the active damping system, and the sensor group of the three vehicles work together to keep the vehicle stable during driving and operation, reducing the impact on the concrete pouring quality caused by vehicle shaking, vibration, etc., ensuring the uniformity and stability of concrete pouring, and thus guaranteeing the construction quality. Each vehicle is equipped with a liquid counterweight system, an active damping system, and a sensor group. During driving, the sensor groups of each vehicle continuously monitor information such as wind speed, wind direction, vehicle attitude, and acceleration, and share this data through a wireless communication module. When encountering strong wind weather, the controllers of each vehicle coordinate and control the liquid counterweight system and the active damping system based on the shared data and their own sensor data. For example, adjust the distribution of the counterweight liquid and the damping coefficient of the damper to make the overall center of gravity of the three vehicles more stable, enhance the wind resistance ability, and avoid the vehicle from getting out of control or capsizing due to wind force, ensuring the safety of construction personnel and equipment. At the same time, during the vehicle driving process, if a vehicle encounters an emergency, such as a road obstacle, it can notify other vehicles in time through the wireless communication module to coordinately adjust the driving state and improve the driving safety.

[0045] It also includes an automatic telescopic canopy system. The automatic telescopic canopy system includes a canopy support, a telescopic drive mechanism, and a canopy cloth. The canopy support is arranged on the top of the vehicle body. The telescopic drive mechanism is connected to the canopy support and is used to drive the expansion and contraction of the canopy support. The canopy cloth covers the canopy support. The telescopic drive mechanism is electrically connected to the controller.

[0046] Specifically, during the concrete pouring construction process, especially in the rainy season or under slightly adverse weather conditions where rainfall may be encountered, the automatic telescopic awning system can quickly perform its rain protection function. When the sensor group detects a rainfall signal (such as a change in the data of the humidity sensor), the signal is transmitted to the controller, and the controller immediately controls the telescopic drive mechanism to work. The telescopic drive mechanism pushes the awning support to unfold and cover the working area on the top of the vehicle body, so that the awning cloth provides shelter for the already poured concrete. This process can effectively prevent rainwater from directly flushing the concrete, avoiding the influence of rainwater erosion on the strength, durability and other quality indicators of the concrete, ensuring the smooth progress of the construction, and reducing the project duration delay and economic losses caused by weather factors; The unfolding and retracting states of the awning support and the awning cloth of the automatic telescopic awning system can affect the aerodynamic performance of the vehicle. In a strong wind environment, when the vehicle is moving, retracting the awning can reduce the overall wind resistance coefficient of the vehicle, reduce the force of the wind on the vehicle, and make the vehicle move more stably. When the vehicle is in a stationary pouring operation state, unfolding the awning can change the flow pattern of the air flow above the vehicle. The controller can control the awning to unfold at the appropriate time according to the data of the wind speed sensor and the wind direction sensor, guide the air flow to pass smoothly through the vehicle, reduce the generation of turbulence and vortices, and reduce the side force and vibration interference of the wind on the vehicle. Cooperating with the liquid counterweight system and the active damping system, it further improves the stability of the vehicle in strong winds; The automatic telescopic awning system is highly integrated with other parts of the vehicle anti-wind vibration stability system. The telescopic drive mechanism is electrically connected to the controller, making it a part of the entire intelligent control system. The controller comprehensively coordinates the work of the automatic telescopic awning system, the liquid counterweight system, the active damping system, etc. according to the driving state, operation conditions and environmental information of the vehicle. During the driving process of the vehicle, if strong wind is encountered, while adjusting the liquid counterweight and the damping coefficient of the damper, the controller can control the awning to retract according to the actual situation to reduce the wind resistance and ensure the driving safety of the vehicle; When parking and pouring in the construction area, the controller can also timely control the awning to unfold to provide rain protection, realizing the coordinated work among the systems and improving the intelligent level and operation efficiency of the entire vehicle anti-wind vibration stability system.

[0047] The awning cloth is made of PVC material that can be thermally cut and thermally bonded. The thickness of the PVC material is 0.3 - 0.5 mm, and the edge of the awning cloth is connected with a reinforcing rib through a thermal bonding process.

[0048] Specifically, the awning cloth is made of PVC material that can be thermally cut and thermally bonded, enabling precise processing. The thermal cutting technology can accurately cut the PVC material according to the size and shape of the awning support, ensuring a perfect fit between the awning cloth and the support, and avoiding the problem of poor rainproof effect caused by size deviation. The thermal bonding process is used to connect the edges of the awning cloth. Compared with traditional connection methods such as sewing, thermal bonding can make the connection part more compact, effectively preventing rainwater from leaking through the seams. Moreover, when connecting the reinforcing ribs, the thermal bonding process can ensure a firm combination between the reinforcing ribs and the awning cloth, enhancing the stability of the overall awning structure; the PVC material itself has good waterproofness, wind resistance, and durability. The thickness selection of 0.3 - 0.5 mm provides sufficient strength while ensuring the flexibility of the material. In strong wind weather, the awning needs to withstand a large amount of wind force. This PVC material can effectively resist the tearing of the wind. The reinforcing ribs at the edge of the awning cloth further enhance the wind resistance of the awning, dispersing the acting force of the wind on the edge of the awning and preventing the awning from being torn or damaged under strong winds. This not only extends the service life of the awning, reduces the frequency and cost of replacing the awning, but also ensures that under harsh weather conditions, the awning can continuously provide reliable rain protection for the concrete pouring area, guaranteeing the continuity of construction; the thermal cutting and thermal bonding processes enable more efficient utilization of the PVC material during processing, reducing the generation of waste materials and lowering material waste. Moreover, due to the improved sealing and durability of the awning, during use, the need for maintenance and replacement due to problems such as leakage and damage is reduced, which lowers the maintenance cost during construction, improves construction efficiency, and avoids affecting the construction progress due to frequent awning maintenance.

[0049] It also includes a resonance avoidance system. The resonance avoidance system includes a vibration sensor and a frequency adjustment module. The vibration sensor is set on the vehicle body to detect the vibration frequency of the vehicle body. The frequency adjustment module is electrically connected to the controller. The controller changes the natural frequency of the vehicle body by adjusting the distribution of the counterweight liquid in the liquid counterweight system and the damping coefficient of the active damping system, avoiding resonance with the external wind vibration frequency.

[0050] Specifically, in a strong wind environment, the external wind vibration frequency is complex and variable. If the vehicle resonates with the wind vibration frequency, it will generate severe vibrations. The vibration sensor continuously monitors the vehicle body vibration frequency and transmits the data to the controller. Once it detects that the natural frequency of the vehicle body is close to the external wind vibration frequency, the controller quickly responds and controls the liquid counterweight system and the active damping system through the frequency adjustment module. It adjusts the distribution of the counterweight liquid to change the mass distribution of the vehicle body, and at the same time adjusts the damping coefficient of the active damping system, so that the natural frequency of the vehicle body deviates from the external wind vibration frequency, avoiding resonance. This can effectively prevent the vehicle from structural damage and component loosening caused by resonance, ensure the safety of the vehicle and the construction equipment carried, and reduce the risk of safety accidents; during the concrete pouring construction process, the stability of the vehicle is crucial. The severe vibrations generated by resonance will affect the pouring accuracy and quality of the concrete, resulting in problems such as uneven pouring and cracks. The resonance avoidance system continuously monitors and adjusts to ensure that the vehicle can operate stably under various wind conditions. When encountering strong winds, the system adjusts in a timely manner to prevent the vibrations caused by resonance from interfering with the construction, ensuring the smooth progress of the concrete pouring process, improving the construction quality, and reducing rework and material waste caused by unstable construction; being in a resonance state for a long time will accelerate the wear of the vehicle and equipment, shortening their service life. The resonance avoidance system greatly reduces the additional vibration stress borne by the vehicle and equipment by avoiding resonance, reduces the fatigue damage of components, reduces the incidence of equipment failures, extends the maintenance cycle and overall service life of the equipment, reduces the equipment replacement and maintenance costs during the construction process, and improves the economic benefits of the construction.

[0051] Please refer to the appendix Figure 1 - appendix Figure 3 , a control method for a vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping, includes the following steps: S1. The controller receives the wind speed and wind direction data detected by the sensor group; S2. The controller calculates the adjustment angles of the front spoiler, side skirts, and rear spoiler according to the preset aerodynamic model; S3. The controller sends a control signal to the electric adjustment mechanism to drive the front spoiler, side skirts, and rear spoiler to adjust the angles. The front spoiler is arranged at the front end of the vehicle body, the side skirts are arranged on both sides of the vehicle body, and the rear spoiler is arranged at the rear end of the vehicle body. The front spoiler, side skirts, and rear spoiler are all connected to the vehicle body through the electric adjustment mechanism.

[0052] Specifically, in the vehicle anti-wind vibration stability system, the preset aerodynamic model plays a crucial role. It is constructed based on multiple principles and aims to optimize the vehicle's performance under different wind conditions. This model comprehensively considers the vehicle's external shape structure, such as the shape and position of the front spoiler, side skirts, and rear spoiler, as well as the interaction between the vehicle and the air during driving. By applying the basic principles of aerodynamics, including knowledge about air flow, pressure distribution, and the generation mechanisms of drag and lift in fluid mechanics, a mathematical model that can describe the air flow state around the vehicle is constructed. The core of this aerodynamic model lies in accurately calculating the magnitude and direction of the aerodynamic forces acting on each part of the vehicle under different wind speeds and directions. During the model establishment process, technologies such as computational fluid dynamics (CFD) are used to numerically simulate the flow field around the vehicle. Through the simulation, the flow path of the air flow on the vehicle body surface, the pressure distribution, and the forces exerted by the air flow on components such as the front spoiler, side skirts, and rear spoiler are analyzed in detail. The model is calibrated and verified using wind tunnel test data by comparing the data of the vehicle's aerodynamic forces and moments measured in actual wind tunnel tests with the model calculation results, and continuously optimizing the model parameters to improve the accuracy of the model. Based on this model, the controller can quickly calculate the optimal adjustment angles of the front spoiler, side skirts, and rear spoiler according to the real-time wind speed and direction data detected by the sensor group. In a crosswind environment, the model calculates the component angles that can change the air flow direction and reduce the lateral force of the crosswind on the vehicle according to the air flow direction and speed. For example, adjusting the angle of the front spoiler to guide the air flow at the front of the vehicle and reduce the lateral push of the crosswind on the front of the vehicle; adjusting the angle of the side skirts to suppress the air flow disorder under the vehicle and reduce the lateral wind force on the side of the vehicle body; controlling the angle of the rear spoiler to increase the downforce at the rear of the vehicle and prevent the vehicle from skidding, ensuring the stability of the vehicle during driving and construction under complex wind conditions.

[0053] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping, comprising a vehicle body, a liquid counterweight system, an active damping system, a sensor group and a controller, characterized in that: The liquid counterweight system includes a liquid storage tank, a water delivery pipeline, a water pump, and a plurality of counterweight liquid bags. The liquid storage tank is fixed to the bottom of the vehicle body. One end of the water delivery pipeline is fixedly arranged at the connection port of the liquid storage tank, and the other end is fixedly arranged at the connection port of the counterweight liquid bag. The water pump is fixedly arranged on the water delivery pipeline; The active damping system includes a plurality of dampers, which are respectively arranged between the wheels and the vehicle frame of the vehicle body; The sensor group includes a wind speed sensor, a wind direction sensor, an acceleration sensor, and a gyroscope. The wind speed sensor and the wind direction sensor are fixedly arranged on the top of the vehicle body, and the acceleration sensor and the gyroscope are arranged on the vehicle frame; The controller is electrically connected to the liquid counterweight system, the active damping system, and the sensor group respectively. The controller is used to receive the detection signals of the sensor group and control the operation of the water pump and the damping coefficient of the damper.

2. The vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to claim 1, characterized in that: The counterweight liquid bags are arranged at the four corners of the vehicle body. Each counterweight liquid bag is connected to the liquid storage tank through an independent water delivery pipeline. A flow control valve is arranged on each water delivery pipeline, and the flow control valve is electrically connected to the controller.

3. A vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to claim 1, characterized in that: The damper is a magnetorheological damper or an electro-hydraulic servo damper, and the damping coefficient of the damper can be adjusted in real time through the controller.

4. A vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to claim 1, characterized in that: The sensor group further includes a pressure sensor, which is arranged at the contact between the wheel and the ground and is used to detect the ground pressure of the wheel. The pressure sensor is electrically connected to the controller.

5. A vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to claim 1, characterized in that: The controller pre-stores a wind vibration stability control algorithm, which includes a model predictive control algorithm and a reinforcement learning algorithm. The controller calculates the operation parameters of the water pump and the damping coefficient of the damper through the control algorithm.

6. The vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to claim 1, characterized in that: It further includes a three-vehicle accompanying system, which includes a leading vehicle, a following vehicle, and a support vehicle. The leading vehicle, the following vehicle, and the support vehicle are all provided with the liquid counterweight system, the active damping system, the sensor group, and the controller. The leading vehicle, the following vehicle, and the support vehicle are connected through a wireless communication module to realize the coordinated control of the three vehicles.

7. A vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to claim 1, characterized in that: It further includes an automatic telescopic awning system, which includes an awning bracket, a telescopic driving mechanism, and an awning cloth. The awning bracket is arranged on the top of the vehicle body. The telescopic driving mechanism is connected to the awning bracket and is used to drive the expansion and contraction of the awning bracket. The awning cloth covers the awning bracket, and the telescopic driving mechanism is electrically connected to the controller.

8. A vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to claim 7, characterized in that: The awning cloth is made of PVC material that can be thermally cut and thermally bonded. The thickness of the PVC material is 0.3 - 0.5 mm, and the edge of the awning cloth is connected with a reinforcing rib through a thermal bonding process.

9. A vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to claim 1, characterized in that: It further includes a resonance avoidance system, which includes a vibration sensor and a frequency adjustment module. The vibration sensor is disposed on the vehicle body and is used to detect the vibration frequency of the vehicle body. The frequency adjustment module is electrically connected to the controller. The controller changes the natural frequency of the vehicle body by adjusting the distribution of the counterweight liquid of the liquid counterweight system and the damping coefficient of the active damping system, so as to avoid resonance with the external wind vibration frequency.

10. A control method for a vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping, which is applied to a vehicle anti-wind vibration stability system based on dynamic optimization of liquid counterweight and damping according to any one of claims 1-9, characterized in that, It includes the following steps: S1. The controller receives the wind speed and wind direction data detected by the sensor group; S2. The controller calculates the adjustment angles of the front spoiler, side skirts and rear spoiler according to the preset aerodynamic model; S3. The controller sends a control signal to the electric adjustment mechanism to drive the front spoiler, side skirts and rear spoiler to adjust the angles. The front spoiler is disposed at the front end of the vehicle body, the side skirts are disposed on both sides of the vehicle body, and the rear spoiler is disposed at the rear end of the vehicle body. The front spoiler, side skirts and rear spoiler are all connected to the vehicle body through the electric adjustment mechanism.

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