基于ADAMS与Simulink的平衡重式叉车侧倾分级控制联合仿真
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摘要
针对平衡重式叉车的结构特性和工作环境特点,文章采用侧倾分级控制策略,将叉车侧倾姿态分为一级侧倾和二级侧倾,分别进行一级模糊控制和二级变论域模糊控制;设计了一种新型的三连杆液压支承调整机构,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,仿真工况采用平衡重式叉车动态稳定性试验的欧洲标准。仿真结果表明,采用侧倾分级控制策略有效改善了叉车的横向稳定性和主动安全性。
According to the structure characteristics and working environment of counterbalanced forklift truck,the roll grading control strategy was put forward.The roll attitude of the forklift truck was divided into the first-grade rolling and the second-grade rolling,which were controlled by the fuzzy controller and variable universe fuzzy controller,respectively.A kind of three-link hydraulic supported adjusting mechanism for forklift roll was designed.The virtual prototype model of the forklift truck was established based on ADAMS,and the co-simulation was proceeded based on Matlab/Simulink.The working conditions of the co-simulation were formulated according to the European standards for counterbalanced forklift truck dynamic stability test.The simulation results showed that the roll grading control strategy effectively improved the lateral stability and active safety of the forklift truck.
According to the structure characteristics and working environment of counterbalanced forklift truck,the roll grading control strategy was put forward.The roll attitude of the forklift truck was divided into the first-grade rolling and the second-grade rolling,which were controlled by the fuzzy controller and variable universe fuzzy controller,respectively.A kind of three-link hydraulic supported adjusting mechanism for forklift roll was designed.The virtual prototype model of the forklift truck was established based on ADAMS,and the co-simulation was proceeded based on Matlab/Simulink.The working conditions of the co-simulation were formulated according to the European standards for counterbalanced forklift truck dynamic stability test.The simulation results showed that the roll grading control strategy effectively improved the lateral stability and active safety of the forklift truck.
引文
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[17]毕成亚,郑颖龙,吴燕红.平衡重式叉车动态稳定性试验研究[J].工程机械,2014,45(12):19-24.
[2] JUJNOVICH B A.Active steering of articulated vehicles[D].Cambridge,Eng.:Cambridge University,2005.
[3] CHENG C,CEBON D.Improving roll stability of articulated heavy vehicles using active semi-trailer steering[J].Vehicle System Dynamics,2008,46(suppl1):373-388.
[4] SOLMAZ S,CORLESS M,SHORTEN R.A methodology for the design of robust rollover prevention controllers for automotive vehicles:Part 1differential braking[J].International Journal of Control,2007,80(11):1763-1779.
[5] MIEGE A J P,CEBON D.Active roll control of an experimental articulated vehicle[J].Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering,2005,219(6):791-806.
[6]李学飞.铰接转向车辆侧倾失稳机理及主动防倾翻控制方法研究[D].长春:吉林大学,2014.
[7]宗长富,朱天军,麦莉,等.基于全局增益调度控制的重型半挂车主动侧倾控制算法[J].机械工程学报,2008,44(10):138-144.
[8]宋宇,陈无畏,陈黎卿.基于ADAMS与Matlab的车辆稳定性控制联合仿真研究[J].机械工程学报,2011,47(16):86-92.
[9]徐延海.基于主动转向技术的汽车防倾翻控制的研究[J].汽车工程,2009(27):518-521.
[10]康永升.基于ADAMS的叉车建模及转向稳定性分析[J].农业装备与车辆工程,2013,51(10):56-59.
[11]段小成,唐新蓬,谭勇.基于模糊PID的车辆侧倾主动控制仿真研究[J].机械与电子,2007(4):53-55.
[12]杨涛.汽车横向稳定性控制研究[D].西安:长安大学,2011.
[13]陈英杰,张磊,李建友.平衡重式叉车倾翻预警方案研究[J].建筑机械,2009(3):60-63.
[14]李良峰.变论域模糊控制算法研究[D].成都:电子科技大学,2008.
[15]苏欣平,周京京,郭爱东,等.基于ADAMS的叉车静态稳定性分析与仿真[J].中国工程机械学报,2012,10(1):77-80.
[16]王翠.基于模糊PID控制的汽车横向稳定性控制研究与仿真[D].长沙:长沙理工大学,2009.
[17]毕成亚,郑颖龙,吴燕红.平衡重式叉车动态稳定性试验研究[J].工程机械,2014,45(12):19-24.