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

摘要： 在分析平衡重式叉车结构特性和侧翻机理的基础上，确定平衡重式叉车防侧翻控制执行机构；提出了基于可拓决策的平衡重式叉车防侧翻控制策略，设计了包括上层可拓控制与下层执行控制的防侧翻可拓分层控制器。上层可拓控制器将叉车防侧翻控制域分为经典域、可拓域及非域，并确定下层执行控制器的权重系数；下层执行控制器接收上层可拓控制器确定的权重系数，对横摆角速度控制器和侧向加速度控制器进行控制权重分配，并执行防侧翻控制指令，实现平衡重式叉车防侧翻可拓控制。欧标工况仿真与实车试验结果表明：基于可拓决策的平衡重式叉车防侧翻控制策略可有效降低叉车在高速紧急转向工况下的侧倾幅度，防止叉车侧翻，提高了平衡重式叉车的稳定性与主动安全性。

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