Research on Attitude Control and Stability of Water-Wading Vehicles

With the intensification of global climate change, the frequency of extreme rainfall has increased, and the number of urban waterlogging and water-crossing sections in the wild has significantly risen. The scenarios where vehicles encounter complex water-crossing road conditions are also on the rise, which poses unprecedented challenges to the passability and safety of modern vehicles. This article conducts a study on the problem of attitude instability that occurs when vehicles are driving in water. Traditional vehicles have insufficient passability when wading through water. Their passive suspension systems cannot adaptively adjust when wading through water, resulting in insufficient vehicle stability and a high risk of serious accidents such as "water skidding" or even overturning. The safety of driving through water cannot be guaranteed. In this regard, this paper first establishes a dynamic model of a wading vehicle body considering the effect of buoyancy. On this basis, it innovatively proposes an active attitude cooperative control strategy that synchronously controls the pitch and roll attitudes of the vehicle body by real-time regulation of the inflation volume, and can simultaneously and precisely estimate the real-time center of mass position of the vehicle. The research results show that, compared with the passive suspension system, the method proposed in this paper can quickly and accurately estimate the center of mass position and stabilize the attitude Angle within a reasonable range,comprehensively improving the stability and safety of the vehicle when driving through water. This research provides a novel and engineering-feasible solution for the attitude control of water-wading vehicles.