| 平衡重式叉车满载急转工况下横向稳定性控制 |
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| 引用本文： | 刘显贵,杨坤全,张福斌,许超.平衡重式叉车满载急转工况下横向稳定性控制[J].华侨大学学报(自然科学版),2022,43(2):154-159. |
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| 作者姓名： | 刘显贵 杨坤全 张福斌 许超 |
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| 作者单位： | 1. 厦门理工学院 机械与汽车工程学院, 福建 厦门 361024; 2. 漳州职业技术学院 汽车工程学院, 福建 漳州 363000;3. 林德(中国)叉车有限公司, 福建 厦门 361009 |
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| 基金项目： | 国家自然科学基金资助项目（51641507,51978592）；;福建省自然科学基金资助项目（2019J01861）； |
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| 摘 要： | 以提高平衡重式叉车满载紧急转向工况下的横向稳定性为目标,结合叉车动力学特性,采用ADAMS软件建立某型3T平衡重式叉车整车横向动力学模型. 设计一种基于模型预测算法的主动后轮转向控制器,实现叉车的主动后轮转向控制;然后,基于ADAMS与MATLAB/Simulink进行联合仿真计算,并根据标准EN 16203:2014进行实车稳定性试验.结果表明:所设计的主动后轮转向控制策略系统反应迅速,能有效降低叉车急转工况下的横摆角速度和侧倾角,大大提高叉车的横向稳定性;叉车满载急转过程安全稳定,横向稳定性动力学参数横向加速度和横摆角速度的最大值分别降低16.47%和25%.
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| 关 键 词： | 平衡重式叉车 横向稳定性 模型预测控制算法 急转工况 动力学特性 主动后轮转向控制 |
Lateral Stability Control of Counterbalanced Forklift Under Extreme Steering Condition |
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| LIU Xiangui,YANG Kunquan,ZHANG Fubin,XU Chao.Lateral Stability Control of Counterbalanced Forklift Under Extreme Steering Condition[J].Journal of Huaqiao University(Natural Science),2022,43(2):154-159. |
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| Authors: | LIU Xiangui YANG Kunquan ZHANG Fubin XU Chao |
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| Affiliation: | 1. School of Mechanical and Automotive Engineering, Xiamen University of Technology, Xiamen 361024, China; 2. School of Automobile Engineering, Zhangzhou Institute of Technology, Zhangzhou 363000, China; 3. Linde(China)Forklift Truck, Xiamen 361009, China |
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| Abstract: | In order to improve the lateral stability of the forklift under full load emergency steering condition, the model of a 3T counterbalanced forklift truck was established with forklift dynamics characteristics based on ADAMS. An active rear steering controller was designed base on the basic principle of model predictive control algorithm to control the rear steering of the forklift. The active control stability of the forklift truck was simulated with ADAMS and MATLAB, and tested according to the standard EN16203: 2012. The simulation and experimental results show that the active rear steering control strategy can effectively reduce the yaw rate and roll angle and improve the lateral stability of the forklift truck; the full load emergency steering is stable and safe, and the maximum values of the lateral stability dynamics parameters: lateral acceleration and yaw rate are reduced by 16.47% and 25% respectively. |
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| Keywords: | counterbalanced forklift lateral dynamic stability model predictive control algorithm sharp turning conditions dynamic characteristics active rear wheel steering control |
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