基于横向载荷转移率的叉车横向稳定性分级控制
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摘要
文章基于ADAMS建立了平衡重式叉车整车虚拟样机模型,基于11自由度叉车动态数学模型进行了叉车横向载荷转移率计算,在此基础上提出了一种基于横向载荷转移率的叉车横向稳定性分级控制方法,并根据横向载荷转移率将叉车横向稳定性控制分为2级;当横向载荷转移率大于二级阈值时执行油缸锁定控制,当横向载荷转移率大于一级阈值且小于二级阈值时执行模糊控制。基于ADAMS和Matlab/Simulink联合仿真的结果表明,该文提出的基于横向载荷转移率的叉车防侧倾分级控制方法可有效提高叉车的横向稳定性和主动安全性。
Based on ADAMS, a virtual prototype model of counterbalanced forklift is established. Based on 11-DOF forklift dynamic mathematical model, the lateral load transfer ratio of forklift is calculated. A method of lateral stability control based on lateral load transfer ratio is proposed. According to the lateral load transfer ratio, the lateral stability control of the forklift is divided into two stages. When the lateral load transfer ratio is greater than the secondary threshold, the cylinder lock control is executed. When the lateral load transfer ratio is greater than the first threshold and less than the secondary threshold, the fuzzy control is performed. The results of ADAMS and Matlab/Simulink simulation show that the proposed method can improve the lateral stability and active safety of the forklift.
Based on ADAMS, a virtual prototype model of counterbalanced forklift is established. Based on 11-DOF forklift dynamic mathematical model, the lateral load transfer ratio of forklift is calculated. A method of lateral stability control based on lateral load transfer ratio is proposed. According to the lateral load transfer ratio, the lateral stability control of the forklift is divided into two stages. When the lateral load transfer ratio is greater than the secondary threshold, the cylinder lock control is executed. When the lateral load transfer ratio is greater than the first threshold and less than the secondary threshold, the fuzzy control is performed. The results of ADAMS and Matlab/Simulink simulation show that the proposed method can improve the lateral stability and active safety of the forklift.
引文
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[13]赵健.基于底盘集成控制的轻型汽车防侧翻控制[J].汽车工程,2014,36(3),334-339.
[2]任家权,徐庆华.丰田叉车控制系统新技术[J].工程机械,2008,39(1):47-48.
[3]YU H,GU··EVENC L,OZGU··NER U··.Heavy duty vehicle rollover detection and active roll control[J].Vehicle System Dynamics,2008,46(6):451-470.
[4]JUJNOVICH B A.Active steering of articulated vehicles[D].Cambridge,Eng:Cambridge University,2005.
[5]CHENG C,CEBON D.Improving roll stability of articulated heavy vehicle using active semi-trailer steering[J].Vehicle System Dynamics,2008,46(Supple 1):373-388.
[6]MIEGE 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):719-806.
[7]薛念文,程丽娟.用于汽车横向稳定性的模糊控制器的设计与研究[J].拖拉机与农用运输车,2010,37(3):59-61.
[8]陈英杰.平衡重式叉车倾翻预警方案研究[J].建筑机械,2009(2):60-63.
[9]杨涛.汽车横向稳定性控制研究[D].西安:长安大学,2011.
[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]TSOURAPAS V,PIYABONGKARN D,WILLIAMS AC,et al.New method of identifying real-time predictive lateral load transfer ratio for rollover prevention systems[C]//Proceedings of the 2009 Conference on American Control.NJ,USA:IEEE Press Piscataway,2009:439-444.
[12]DOUMIATI M,VICTORINO A,CHARARA A,et al.Lateral load transfer and normal forces estimation for vehicle safety:experimental test[J].Vehicle System Dynamics,2009,47(12):23.
[13]赵健.基于底盘集成控制的轻型汽车防侧翻控制[J].汽车工程,2014,36(3),334-339.