平衡重式叉车防侧翻模型预测控制研究

doi:10.3969/j.issn.1004-132X.2021.08.013

摘要/Abstract

摘要： 为降低叉车在高速转向时发生侧翻的概率，设计了一种液压支撑油缸作为执行机构，为叉车提供侧向支撑力。针对叉车行驶过程中的安全域判断问题，提出基于零力矩点的叉车行驶状态划分策略，以零力矩点沿侧向分量与叉车支撑平面的关系作为划分依据，并考虑侧翻过程中叉车支撑平面的变化，将叉车侧倾过程分为安全行驶、危险可控以及临界侧翻3个阶段：在安全阶段油缸不提供支撑力；在危险可控阶段基于模型预测控制算法进行油缸支撑力和叉车姿态的调节；在临界侧翻阶段控制油缸为车身提供最大支撑力。该方法以三自由度叉车侧倾模型为控制对象和零力矩点计算的依据，在MATLAB/Simulink中搭建防侧翻控制器进行欧标工况仿真，并进行了实车试验，验证了防侧翻模型预测控制的有效性。

关键词: 平衡重式叉车, 防侧翻, 零力矩点, 模型预测控制, 实车试验

Abstract: In order to reduce the probability of forklift rollover when turning at high speed, a hydraulic support cylinder was designed as actuator to provide lateral support force for the forklift truck. Aiming at the problems of judging the safe region of forklift truck in the driving processes, the dividing strategy of forklift driving states was proposed based on zero moment point. Taking the relationships between lateral component of zero moment point and forklift support plane as dividing basis, and considering the change of forklift support plane in rollover processes, the forklift rollover processes were divided into 3 stages of safe run, danger controllable and critical rollover. In safe run stages, the cylinder didnt provide support force. In danger controllable stages, the model predictive control algorithm was used to adjust cylinder support force and forklift attitude. In critical rollover stages, the cylinder was controlled to provide the maximum support force for the body. This method took a 3-DOF forklift truck roll model as control object and as the basis of zero moment point calculation. Then an anti-roll controller was built in Matlab/Simulink to simulate under European standard working conditions and real vehicle tests were carried out. Therefore, the validity of the anti-rollover model predictive control was verified.

Key words: counterbalanced forklift truck, anti-rollover, zero moment point, model predictive control, real vehicle test

中图分类号:

U294.272

夏光, 李嘉诚, 唐希雯, 张洋, 陈无畏. 平衡重式叉车防侧翻模型预测控制研究[J]. 中国机械工程, 2021, 32(08): 987-996.

XIA Guang, LI Jiacheng, TANG Xiwen, ZHANG Yang, CHEN Wuwei. Reaserch on Anti-rollover Model Predictive Control of Counterbalanced Forklift Trucks[J]. China Mechanical Engineering, 2021, 32(08): 987-996.

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