平衡重式叉车满载急转工况下横向稳定性控制

Lateral Stability Control of Counterbalanced Forklift Under Extreme Steering Condition

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%.

In order to improve the lateral stability of the forklift under full load emergency steering condition, the model of a 3 T 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.