基于横向载荷转移率的叉车横向稳定性分级控制  

Hierarchical control of lateral stability of forklift based on lateral load transfer ratio

作　　者：谢海 夏光 杜克 夏扩远 XIE Hai;XIA Guang;DU Ke;XIA Kuoyuan(Institute of Automobile Engineering Technology,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学汽车工程技术研究院,安徽合肥230009

出　　处：《合肥工业大学学报（自然科学版）》2019年第2期161-166,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(51205101)

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.

关 键 词：平衡重式叉车 横向稳定性 横向载荷转移率 分级控制 

分 类 号：U461.91[机械工程—车辆工程]