Peak Data at High Speed.

The all-terrain rescue lift vehicle is instrumental in mining emergency rescue operations, with its operational stability being of utmost importance. This study focuses on the XZJ5240JQZ30 all-terrain rescue lift vehicle, optimizing its vehicle structure and steering system. A linear 2DOF model and a PID gain model were developed based on actual vehicle parameters. A feedback system was employed to adjust the rear-wheel steering angle, enabling four-wheel steering (4WS) vehicle control. Numerical simulations were conducted using TruckSim and Simulink software. Utilizing the classic Double lane-change scenario as a test scenario, the study compared variations in the vehicle's centroid slip angle and yaw rate at different speeds, analyzing the impact of PID gain on steering stability. Moreover, the relationship between the centroid height and 4WS vehicle stability at low speeds was examined. Based on these findings, practical application tests were performed on the XZJ5240JQZ30 all-terrain rescue lift vehicle, obtaining relevant data on steering angle error. The results indicate that vehicles equipped with the PID-optimized control system demonstrate significantly higher steering stability than those without it. Furthermore, in practical applications, the actual steering angle closely aligns with the theoretical values. This demonstrates that the proposed optimized control system has substantial practical application value.全地形救援升降车在矿山应急救援作业中发挥关键作用，其作业稳定性至关重要。本研究以XZJ5240JQZ30型全地形救援升降车为研究对象，对其车身结构与转向系统开展优化设计。基于实车参数搭建了线性二自由度模型与PID增益模型，采用反馈系统调整后轮转向角，实现四轮转向（4WS）车辆控制。借助TruckSim与Simulink软件开展数值仿真实验，以经典双移线工况为测试场景，对比不同车速下车辆质心侧偏角与横摆角速度的变化规律，分析PID增益对转向稳定性的影响。此外，本研究还探讨了低速工况下质心高度与四轮转向车辆稳定性之间的关联。基于上述研究结果，针对XZJ5240JQZ30型全地形救援升降车开展实车应用测试，获取转向角误差相关数据。实验结果表明，搭载PID优化控制系统的车辆，其转向稳定性显著优于未搭载该系统的车辆；实车测试中实际转向角与理论值贴合度极高，证明本研究提出的优化控制系统具备较高的实际应用价值。