China Mechanical Engineering ›› 2021, Vol. 32 ›› Issue (08): 987-996.

### Reaserch on Anti-rollover Model Predictive Control of Counterbalanced Forklift Trucks

XIA Guang1,3;LI Jiacheng1;TANG Xiwen2;ZHANG Yang1;CHEN Wuwei3

1. 1. Institute of Automotive Engineering, Hefei University of Technology, Hefei，230009
2. College of Electronic Engineering, National University of Defense Technology, Hefei，230037
3. School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei，230009
• Online:2021-04-25 Published:2021-05-10

### 平衡重式叉车防侧翻模型预测控制研究

1. 1. 合肥工业大学汽车工程技术研究院，合肥，230009
2. 国防科技大学电子对抗学院，合肥，230037
3. 合肥工业大学汽车与交通工程学院，合肥，230009
• 作者简介:夏光，男，1983年生，副研究员、博士。研究方向为车辆动力学与控制。发表论文50余篇。获发明专利授权30余项。E-mail：xiaguang008@hfut.edu.cn。
• 基金资助:
国家自然科学基金（51875151）

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.

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