Monitor and control system of the dynamic stability on a telescopic handler with telemetry and experimental data

The safety of off-road vehicles is nowadays always more important and many international standards were published to reduce the risk of accidents and to investigate their causes. For this reasons in this Master thesis both these two different aspects have been taken in consideration. In particular it has been developed a stand-alone GUI (Graphic User Interface) able to read the file recorded by a data-logger installed on a telescopic handler. This GUI returns a 3D animated representation of the telescopic handler showing the operations that the machine has done during the recorded period of time. This application is useful in case of overturning of the machine in order to investigate the causes that have led to the accident. On the other hand the risk of accident can be reduced with a control system of the machine's dynamic stability. In this document it is described a datailed study on the dynamic behaviour of the machine during the test prescribed by ISO EN 15000:2008. After the execution of some tests on a real machine, the data coming from the on-board sensors have been compared with those of some external IMUs (Inertial Measurement Unit) installed on the chassis and the boom of the machine. A simplified analytic model of the machine and a numerical one have been created to simulate the dynamic behaviour of the machine also for configurations different from the ones of the tests. The results of the tests on the machine have been useful to tune those models and increase their reliability. The results of this study will be used to improve the control law of an innovative control system of the telescopic handler' s dynamic stability.