• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (12): 157-167.doi: 10.3901/JME.2019.12.157

• 运载工程 • 上一篇    下一篇

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基于侧倾分级的叉车横向稳定性变论域模糊控制

夏光1,2, 杜克1, 谢海1, 唐希雯3, 陈无畏2   

  1. 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:2018-05-16 修回日期:2019-01-09 出版日期:2019-06-20 发布日期:2019-06-20
  • 通讯作者: 夏光(通信作者),男,1983年出生,博士,副研究员,硕士研究生导师。研究方向为车辆主动安全与控制。E-mail:xiaguang008@163.com
  • 作者简介:杜克,女,1990年出生,硕士研究生。研究方向为车辆主动安全与控制。E-mail:duke_automotive@163.com;陈无畏,男,1951年出生,博士,教授,博士研究生导师。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(51875151)

Variable Universe Fuzzy Control for the Lateral Stability of Forklift Based on the Roll Classification

XIA Guang1,2, DU Ke1, XIE Hai1, TANG Xiwen3, CHEN Wuwei2   

  1. 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:2018-05-16 Revised:2019-01-09 Online:2019-06-20 Published:2019-06-20

摘要: 在分析平衡重式叉车的结构特性以及侧翻机理的基础上,将叉车的侧倾状况分为一级侧倾状况和二级侧倾状况,并提出一种平衡重式叉车的横向稳定性侧倾分级控制策略,叉车侧倾控制的执行机构设计为一种新型三连杆液压支撑调整机构;平衡重式叉车的侧倾分级控制器的设计采取变论域模糊控制方法,当叉车处于一级侧倾状况时,基于侧倾变论域的模糊控制的级别为一级;当叉车处于二级侧倾状况时,基于侧倾变论域的模糊控制的级别为二级;基于ADAMS建立叉车整车虚拟样机模型并与Matlab/Simulink进行联合仿真和实车试验验证,结果表明采取基于侧倾分级的叉车横向稳定性变论域的模糊控制策略可有效提高叉车的横向稳定性。

关键词: 变论域模糊控制, 侧倾分级, 动态稳定性试验, 横向稳定性, 平衡重式叉车

Abstract: Based on the analysis of structural characteristics and tilting mechanism of the balanced weight forklift, tilt of the forklift is divided into first-stage tilt and second-stage tilt, Strategies of control of the tilting stage for lateral stability of the balanced weight forklift are also presented in this paper. A new type of three-link hydraulic-support adjusting mechanism as the actuator for control of the forklift tilt is designed. And the controller is designed by adopting the variabe universe fuzzy control theory based on the forklift's tilting stage. When the forklift is on the first-stage tilt, then variabe universe fuzzy control of first-stage tilt is adopted, and when the forklift is on the second-stage tilt, then variabe universe fuzzy control of second-stage tilt is adopted. Virtual prototype model of the whole forklift is established and joint simulation combined with MATLAB/Simulink as well as the verification of real vehicle test are proceeded. Results showed that the lateral stability and the active safety characteristics of forklift can be improved effectively by applying the variable universe fuzzy control theory based on the division of the tilting stage of the forklift.

Key words: counterbalanced forklift truck, dynamic stability test, lateral stability, roll classification, variable universe fuzzy control

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