关键词: 动态逆, 内模控制, 平衡重式叉车, 小波网络, 直接横摆力矩控制, 主动后轮转向

Abstract: It is proposed that an integrated control strategy of the counterbalanced forklift truck chassis based on wavelet networks dynamics inverse internal model control method to realize the decoupling control of forklift truck active rear wheel steering(ARS) and direct yaw- moment control(DYC) in order to eliminate the coupling effect among forklift truck chassis subsystems. On the basis of analyzing the reversibility of forklift truck chassis system, the paired relationship of decoupling input and output variable is determined, a wavelet networks dynamics inverse model is obtained and serised with the original forklift truck chassis system, the forklift truck chassis system is decoupled into two independent pseudo-linear systems of the input and output one one, the decoupling between the control loops of the forklift truck chassis system is realized. An internal model controller is designed for internal model control of the pseudo-linear systems to improve the response quality of the systems, and the simulation analysis and a driver-in-the-loop test of LabVIEW PXI and veDYNA have been carried up to verify the effectiveness of the control strategy. The results show that the integrated control strategy of the counterbalanced forklift truck chassis based on wavelet networks dynamics inverse internal model control method approach could eliminate the interference and coupling between ARS and DYC, improve the forklift truck status tracking and handling stability performance.

Key words: active rear wheel steering, counterbalanced forklift truck, direct yaw-moment control, dynamics inverse, internal model control, wavelet network