基于横摆角速度反馈的三轮全转向电动叉车转向研究

Research on three-wheel steering of electric forklift based on yaw rate feedback

文章以叉车二自由度线性模型为基础,结合叉车自身特点与转向要求,采用横摆角速度反馈控制策略对三轮全转向叉车进行控制研究。系统仿真输入为方向盘转角,系统输出为横摆角速度和质心侧偏角,通过横摆角速度反馈形成闭环控制,从而调节3个车轮输入转角。仿真结果表明,基于横摆角速度反馈的控制策略有效改善了三轮叉车的机动性能,提高了叉车操纵稳定性。

Based on two-degree-of-freedom（2-DOF） linear model ,and considering the features of fork-lift and its steering requirements ,the three-wheel steering forklift was controlled by adopting yaw rate feedback control strategy .The steering wheel angle was input to the simulation of vehicle system and the output of the system was the yaw rate and sideslip angle ,and the closed-loop control was formed by yaw rate feedback to adjust the input angle of three wheels .The simulation result shows that the control strategy based on yaw rate feedback can effectively improve the flexibility and han-dling stability of the forklift .