基于侧倾能量分级的平衡重式叉车防侧翻控制研究

doi:10.3901/JME.2023.10.275

机械工程学报 ›› 2023, Vol. 59 ›› Issue (10): 275-289.doi: 10.3901/JME.2023.10.275

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基于侧倾能量分级的平衡重式叉车防侧翻控制研究

夏光^1,2, 李嘉诚^1,2, 唐希雯³, 张洋², 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:2022-06-22 修回日期:2022-11-22 出版日期:2023-05-20 发布日期:2023-07-19
通讯作者: 夏光(通信作者),男,1983年出生,博士,副研究员,博士研究生导师。主要研究方向为车辆主动安全与智能控制。E-mail:xiaguang008@163.com E-mail:xiaguang008@163.com
作者简介:李嘉诚,男,1997年出生,硕士研究生。主要研究方向为车辆主动安全与控制。E-mail:lijiacheng361@163.com;唐希雯,女,1983年出生,硕士,高级工程师。主要研究方向为信号与信息处理。E-mail:shelley7983@163.com;张洋,男,1995年出生,硕士研究生。主要研究方向为车辆主动安全与控制。E-mail:15705608994@163.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:
国家自然科学基金资助项目(52275100)。

Research on Anti-rollover Control of Counterweight Forklift Based on Roll Energy Classification

XIA Guang^1,2, LI Jiacheng^1,2, TANG Xiwen³, ZHANG Yang², 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. College of Electronic Engineering, National University of Defense Technology, Hefei 230037

Received:2022-06-22 Revised:2022-11-22 Online:2023-05-20 Published:2023-07-19

摘要/Abstract

摘要： 针对传统车辆稳定指标LTR等难以准确判断平衡重式叉车稳定性状态的问题,提出适用于平衡重式叉车的侧倾能量稳定性指标;在分析平衡重式叉车结构、车身与后桥接触关系的基础上,建立后桥与车身接触和未接触的两阶段动力学模型,推导出叉车侧翻过程中不同状态下的实时侧倾能量。提出基于侧倾能量分级的平衡重式叉车防侧翻控制策略,根据不同的稳定性状态下选取对应的侧倾能量稳定性指标计算公式,进行侧倾能量分级,采用防侧翻油缸和后轮主动转向作为防侧翻控制执行机构,并基于模型预测控制进行防侧翻控制。最后进行基于欧洲标准工况仿真与实车试验验证,结果表明基于侧倾能量分级的平衡重式叉车防侧翻控制策略可以有效降低叉车侧翻危险,提高平衡重式叉车的稳定性和主动安全。

关键词: 平衡重式叉车, 侧翻稳定性, 侧倾能量分级, 模型预测控制, 防侧翻控制

Abstract: In view of the problem that traditional vehicle stability index LTR is difficult to accurately judge the stability state of balanced weight forklift truck, the roll energy stability index suitable for balance weight forklift truck is proposed. Based on the analysis of the structure of counterweight forklift and the contact relationship between the body and the rear axle, a two-stage dynamic model of contact and non-contact between the rear axle and the body is established, and the forklift rollover process is deduced Real time roll energy in different states. An anti-rollover control strategy of counterweight forklift based on roll energy classification is proposed. According to different stability conditions, the corresponding calculation formula of roll energy stability index is selected to classify the roll energy. Anti-rollover cylinder and rear wheel active steering are used as anti-roll control actuator, and anti-roll control is carried out based on model predictive control. The results show that the anti-rollover control strategy based on roll energy classification can effectively reduce the risk of forklift rollover, and improve the stability and active safety of counterweight forklift.

Key words: counterweight forklift truck, roll stability, roll energy classification, model predictive control, anti rollover control

中图分类号:

U270

夏光, 李嘉诚, 唐希雯, 张洋, 陈无畏. 基于侧倾能量分级的平衡重式叉车防侧翻控制研究[J]. 机械工程学报, 2023, 59(10): 275-289.

XIA Guang, LI Jiacheng, TANG Xiwen, ZHANG Yang, CHEN Wuwei. Research on Anti-rollover Control of Counterweight Forklift Based on Roll Energy Classification[J]. Journal of Mechanical Engineering, 2023, 59(10): 275-289.

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基于侧倾能量分级的平衡重式叉车防侧翻控制研究

Research on Anti-rollover Control of Counterweight Forklift Based on Roll Energy Classification

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