Control algorithms of anti-rollover for heavy duty vehicle based on PID

The control algorithms based on TTR threshold were researched using a 3DOF simplify model in order to establish an effective way of alert and control for heavy duty vehicle. The control method based on PID controller was established via PID principle and TTR threshold methodology. The vehicle was verified using fishhook condition simulation. The conclusion showed that every observed parameter is convergent, it testify that the algorithm is simple and effective, it can be apply to early warning and control for commercial vehicle rollover.