基于稳定域划分的平衡重式叉车防侧翻控制

doi:10.3901/JME.2022.06.153

机械工程学报 ›› 2022, Vol. 58 ›› Issue (6): 153-168.doi: 10.3901/JME.2022.06.153

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基于稳定域划分的平衡重式叉车防侧翻控制

夏光^1,2, 许立平¹, 唐希雯³, 陈无畏²

1. 合肥工业大学汽车工程技术研究院合肥 230009;
2. 合肥工业大学汽车与交通工程学院合肥 230009;
3. 国防科技大学电子对抗学院合肥 230037

收稿日期:2021-05-08 修回日期:2021-10-13 出版日期:2022-03-20 发布日期:2022-05-19
通讯作者: 夏光,男,1983年出生,博士,副研究员,硕士研究生导师。主要研究方向为车辆主动安全与控制。E-mail:xiaguang008@163.com
作者简介:许立平,男,1995年出生。主要研究方向为车辆主动安全与控制。E-mail:2428352960@qq.com;陈无畏,男,1951年出生,博士,教授,博士研究生导师。主要研究方向为车辆动力学与控制。E-mail:cwwmail@hf.ah.cn
基金资助:
国家自然科学基金项目(51875151)。

Anti-rollover Control of Counterbalanced Forklift Truck Based on Stable Zone Partition

XIA Guang^1,2, XU Liping¹, TANG Xiwen³, CHEN Wuwei²

1. Institute of Automotive Engineering, Hefei University of Technology, Hefei 230009;
2. School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei 230009;
3. School of Radar Confrontation, National University of Defense Technology, Hefei 230037

Received:2021-05-08 Revised:2021-10-13 Online:2022-03-20 Published:2022-05-19

摘要/Abstract

摘要： 为提高平衡重式叉车在急转工况下抗侧翻能力，在叉车结构分析的基础上建立两阶段侧翻动力学模型，基于两阶段横向载荷转移率LTR₁、LTR₂进行叉车侧翻机理分析与稳定域划分，将叉车稳定性状态分为稳定域、相对稳定域、危险域和异常危险域，提出基于稳定域划分的叉车防侧翻分级控制策略，根据不同的稳定域选择不同的防侧翻控制执行机构：动平衡块、液压支撑油缸和转向油缸。设计叉车防侧翻控制器，由上层稳定域识别控制器、中层模型预测控制器(Model predictive control，MPC)与下层执行控制器组成；上层稳定域识别控制器基于两阶段横向载荷转移率进行叉车稳定域识别，中层MPC控制器以车身侧偏角和横摆角速度为控制目标计算所需控制力矩，下层执行控制器采用改进链式递增分配方式对动平衡块、液压支撑油缸和转向油缸进行控制，以满足目标控制力矩。基于Matlab/Simulink进行仿真与实车试验验证，结果表明基于稳定域划分的平衡重式叉车防侧翻控制可大大降低叉车侧翻危险，提高叉车的安全性。

关键词: 平衡重式叉车, 稳定域划分, 横向载荷转移率, 模型预测控制, 改进链式递增分配

Abstract: In order to improve the anti-rollover capacity of a counterbalanced forklift under the rapid rotation condition, a two-stage rollover dynamic model is established on the basis of the forklift structure. Based on the two-stage lateral load transfer rate, the mechanism of forklift rollover is analyzed and the stable zones are divided into stable zone, relatively stable zone, dangerous zone and abnormal dangerous zone. An anti-rollover layered control strategy based on stable zone partition is proposed, and different anti-rollover control actuators are selected according to different stable zones: dynamic balance block, hydraulic support cylinder and steering cylinder. Anti-rollover controller is composed of the upper stable domain identification controller, the middle-level controller based on model predictive control (MPC) and the lower layer executive controller. The upper stable domain identification controller performs forklift stable zone recognition based on the two-stage lateral load transfer rate, while the mid-level MPC controller calculates the required control torque with the body’s lateral angle and yaw rate as the control objectives, and the lower-level executive controller adopts an improved chain incremental allocation method to control the dynamic balance block, hydraulic support cylinder and steering cylinder to meet the target control torque. This experiment uses Matlab/Simulink for simulation and actual vehicle test verification. The results show that the anti-rollover control of counterbalanced forklift truck based on stable zone partition can greatly reduce the risk of forklift rollover and improve the the forklift safety.

Key words: counterbalanced forklift truck, stable zone partition, lateral load transfer rate, model predictive control, improved chain incremental allocation

中图分类号:

U270

夏光, 许立平, 唐希雯, 陈无畏. 基于稳定域划分的平衡重式叉车防侧翻控制[J]. 机械工程学报, 2022, 58(6): 153-168.

XIA Guang, XU Liping, TANG Xiwen, CHEN Wuwei. Anti-rollover Control of Counterbalanced Forklift Truck Based on Stable Zone Partition[J]. Journal of Mechanical Engineering, 2022, 58(6): 153-168.

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基于稳定域划分的平衡重式叉车防侧翻控制

Anti-rollover Control of Counterbalanced Forklift Truck Based on Stable Zone Partition

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