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- Title
平衡重式叉车防侧翻模型预测控制研究.
- Authors
夏 光; 李嘉诚; 唐希雯; 张 洋; 陈无畏
- Abstract
In order to reduce the probability of forklift rollover when turning at high speed, a hydraulic support cylinder was designed as actuator to provide lateral support force for the forklift truck. Aiming at the problems of judging the safe region of forklift truck in the driving processes, the dividing strategy of forklift driving states was proposed based on zero moment point. Taking the relationships between lateral component of zero moment point and forklift support plane as dividing basis, and considering the change of forklift support plane in rollover processes, the forklift rollover processes were divided into 3 stages of safe run, danger controllable and critical rollover. In safe run stages, the cylinder didn't provide support force. In danger controllable stages, the model predictive control algorithm was used to adjust cylinder support force and forklift attitude. In critical rollover stages, the cylinder was controlled to provide the maximum support force for the body. This method took a 3-DOF forklift truck roll model as control object and as the basis of zero moment point calculation. Then an anti-roll controller was built in Mat lab/Simulink to simulate under European standard working conditions and real vehicle tests were carried out. Therefore, the validity of the anti-rollover model predictive control was verified.
- Subjects
TRUCK driving; HYDRAULIC cylinders; LATERAL loads; MODEL trucks; FORKLIFT trucks
- Publication
China Mechanical Engineering, 2021, Vol 32, Issue 8, p987
- ISSN
1004-132X
- Publication type
Article
- DOI
10.3969/j.issn.1004-132x.2021.08.013