三轮全转向叉车的转向控制策略研究  

Research on all-wheel steering control strategy for three-wheel forklift

作　　者：肖祖勋 肖本贤[1] 

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

出　　处：《合肥工业大学学报（自然科学版）》2017年第10期1349-1354,共6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：文章以三轮全转向叉车转向系统的转向性能为研究对象,以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,提出了前后轮等角反向转动控制、横摆角速度反馈控制2种控制策略。根据TFC20全向前移式电动叉车的实际数据,给出了基于车速、车轮转角的三轮全转向叉车转向系统性能的仿真对比分析。仿真结果表明,前后轮等角反向转动控制有效改善了传统三轮叉车机动性能,提高了叉车操纵灵活性;横摆角速度反馈控制有效改善了传统三轮叉车的横向稳定性,提高了叉车操纵稳定性。Taking the steering performance of all-wheel steering system for the three-wheel forklift as the research object, based on a 2-DOF model of three-wheel steer-by-wire system, and in view of the characteristics and steering requirements of forklift, two kinds of control strategies are proposed, one does the isometric reverse rotation at front and rear wheel, and the other uses the yaw rate feedback. According to the actJal data of the forklift TFC20, the simulation analysis of the steering performance of all-wheel steering system for the three-wheel forklift based on speed and wheel angle is given. The simulation results show that compared with the traditional steering control method, the first control strategy improves the steering flexibility of the forklift, and the second control strategy improves the steering stability of the forklift.

关 键 词：三轮线控转向 等角反向转动控制 横摆角速度反馈 解耦 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]