| 제목 |
STUDY ON ANTI-ROLLOVER OF THE COUNTERBALANCE FORKLIFT BASED ON EXTENSION HIERARCHICAL CONTROL |
| 분야 |
Chassis |
| 언어 |
English |
| 저자 |
Guang Xia(Hefei University of Technology), Jiacheng Li(Hefei University of Technology), Xiwen Tang(National University of Defense Technology), Linfeng Zhao(Hefei University of Technology), Baoqun Sun(Hefei University of Technology) |
| Key Words |
Counterbalance forklift, Rollover prevention, Extension hierarchical control, Fuzzy PID, Real vehicle test |
| 초록 |
The anti-rollover control actuator of a counterbalance forklift is determined by analysing its structural characteristics and roll-over mechanism. An anti-rollover control strategy for counterbalance forklifts based on extension decision is proposed, and the anti-rollover extension hierarchical controller, including the upper-layer extension and lower-layer execution controls, is designed. The upper-layer extension controller divides the forklift anti-rollover control domain into three types, namely, classical domain, extension domain and non-domain, and determines the weight coefficient of the lower layer execution controller. The lower-layer execution controller receives the weight coefficient determined by the upper-layer extension controller, controls the weight distribution on the yaw rate and lateral acceleration controllers and executes the command to obtain the anti-rollover extension control of the counterbalance forklift. The European standard condition simulation and real vehicle test results show that the anti-rollover control strategy of the counterbalance forklift based on the extension decision can effectively reduce the forklift roll range under high-speed emergency steering conditions, prevent the forklift from rolling over and improve the stability and active safety of the counterbalance forklift. |
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