基于模糊控制的叉车线控转向系统变传动比研究  

Research on steering-by-wire system variable transmission ratio of forklift based on fuzzy control

作　　者：吴佳楠[1] 肖本贤[1] 方兴志 范进 

机构地区：[1]合肥工业大学电气与自动化工程学院,安徽合肥230009 [2]合肥搬易通科技发展有限公司,安徽合肥230011

出　　处：《合肥工业大学学报（自然科学版）》2014年第8期912-915,共4页Journal of Hefei University of Technology：Natural Science

基　　金：国家自然科学基金资助项目(61304007)

摘　　要：叉车是工业搬运车辆,对于转向特性要求比其他车辆更高。文章根据理想传动比的概念,以线控转向传动比的控制为研究对象,线控转向系统整车二自由度模型为基础,结合叉车自身特点与转向要求,提出了传动比模糊控制策略,旨在进一步改善系统的转向性能。根据TE30型托盘搬运叉车的数据进行实际计算和分析,给出了基于车速、方向盘转角的叉车动态转向系统变传动比的模糊设计方法。仿真结果表明,利用模糊控制方法确定的传动比可使车辆在低速行驶时"灵活",高速行驶时"迟钝",使灵敏度趋近于常数,有利于提高叉车操作稳定性,减轻驾驶员的负担。Forklift is industrial carrying vehicle ,so the requirement for its steering characteristic is higher than other vehicles .According to the concept of the ideal transmission ratio ,and based on the two-degree-freedom model of entire vehicle steering-by-wire system ,the fuzzy control strategy for transmission ratio is designed and the steering-by-wire transmission ratio is studied to further improve the steering performance of system and ensure safety . The calculation and analysis of the data of TE30-type pallet forklift is conducted and the fuzzy design method of the dynamic steering-by-wire system variable transmission ratio of forklift based on vehicle velocity and steering angle is given .The simulation results show that forklifts keep flexible at low speed and dull at high speed with the trans-mission ratio determined by the fuzzy control method and the sensitivity tends to be constant ,so the vehicle maneuverability can be improved and the driver’s burden reduced .

关 键 词：叉车 模糊控制 线控转向 灵敏度 传动比 

分 类 号：U463.42[机械工程—车辆工程] TP273.4[交通运输工程—载运工具运用工程]