货物旋转对三向叉车横向稳定性影响及控制策略研究  

A study on the effect of cargo rotation on three-way forklift lateral stability and control strategy

作　　者：杨鹏 肖本贤[1] 倪有源[1] 方紫剑 肖献强 YANG Peng;XIAO Benxian;NI Youyuan;FANG Zijian;XIAO Xianqiang(School of Electrical Engineering and Automation,Hefei University of Technology,Hefei 230009,China;Hefei Banyitong Technology Development Co.,Ltd.,Hefei 230012,China;Hefei Yiheng Intelligent Robot Co.,Ltd.,Hefei 230009,China)

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230012 [3]合肥壹恒智能机器人有限公司,安徽合肥230009

出　　处：《合肥工业大学学报（自然科学版）》2023年第6期780-787,共8页Journal of Hefei University of Technology：Natural Science

基　　金：国家自然科学基金重点资助项目(51637004)。

摘　　要：文章考虑了三向叉车在装载货物运行的情况下,其货叉带动货物旋转引起整车的合成重心变化,进而提出一种考虑货物旋转情况的叉车横向稳定性模型。针对三向叉车的合成重心变化导致其横向稳定性不足的问题,首先在该文建立的叉车模型基础上运用线性二次型调节器(linear quadratic regulator,LQR)最优控制法,提出一种基于天牛须搜索的粒子群算法(particle swarm optimization based on beetle antennae search,BAS-PSO)来优化LQR状态矩阵加权系数的方法,进而设计LQR转向控制器;然后基于BAS-PSO优化的LQR转向控制器实现对理想横摆角速度和理想质心侧偏角的快速跟随;最后在双移线换道工况下进行仿真分析,验证了上述控制策略能有效抑制质心侧偏角的偏移,更好地实时跟踪理想横摆角速度,三向叉车在其货叉装载货物进行旋转操作时的横向稳定性得到了明显改善。This paper considers that when a three-way forklift is loading and running,its fork drives the rotation of the cargo and causes the change of the synthetic center of gravity of the vehicle,and then proposes a model of the lateral stability of the forklift that considers the rotation of the cargo.In view of the problem of insufficient lateral stability caused by the change of the synthetic center of gravity of the three-way forklift,the linear quadratic regulator(LQR)optimal control method is used on the basis of the established forklift model,and the particle swarm optimization based on beetle antennae search(BAS-PSO)is proposed to optimize the LQR state matrix weighting coefficient,and then design the LQR steering controller.The LQR steering controller optimized by BAS-PSO realizes the fast follow of the ideal yaw angular velocity and the ideal centroid side declination angle.The simulation analysis is carried out under the condition of double-shift line and lane change,and it is verified that the above-mentioned control strategy can effectively suppress the offset of the centroid side declination angle,and better track the ideal yaw angular velocity in real time.The lateral stability of the three-way forklift is significantly improved when its fork is loaded with goods for rotating operations.

关 键 词：三向叉车 货物旋转 线性二次型调节器(LQR) 天牛须搜索的粒子群算法(BAS-PSO) 横向稳定性 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]