关键词: 平衡重式叉车, 防侧翻, 可拓分层控制, 模糊PID, 实车试验

Abstract:  Based on the analysis of the structural characteristics and the rollover mechanism of the counterbalanced forklifts， an anti-rollover control strategy for counterbalanced forklifts was proposed based on extension decision， and the anti-rollover extension hierarchical controller including upper layer extension control and lower layer execution control was designed. The upper layer extension controller divided the forklift anti-rollover control domains into a classic domain， a extension domain， and a non-domain， and determined the weight coefficients of the lower layer execution controller. The lower layer execution controller received the weight coefficients determined by the upper layer extension controller， performed control weight distribution on the yaw rate controller and the lateral acceleration controller， and executed the commands to realize the anti-rollover extension control of the counterbalance forklifts. The European standard condition simulation and real vehicle test results show that the anti-rollover control strategy of the counterbalance forklifts based on the extension decision may effectively reduces the roll ranges of the forklifts under high-speed emergency steering conditions， prevents the forklift from rolling over and improves the stability and active safety of the counterbalance forklift trucks. 

Key words: counterbalanced forklift truck, anti-rollover, extension hierarchical control, fuzzy PID, real vehicle test