Abstract
The anti-rollover control actuator of a counterbalance forklift is determined by analysing its structural characteristics and roll-over mechanism. An anti-rollover control strategy for counterbalance forklifts based on extension decision is proposed, and the anti-rollover extension hierarchical controller, including the upper-layer extension and lower-layer execution controls, is designed. The upper-layer extension controller divides the forklift anti-rollover control domain into three types, namely, classical domain, extension domain and non-domain, and determines the weight coefficient of the lower-layer execution controller. The lower-layer execution controller receives the weight coefficient determined by the upper-layer extension controller, controls the weight distribution on the yaw rate and lateral acceleration controllers and executes the command to obtain the anti-rollover extension control of the counterbalance forklift. The European standard condition simulation and real vehicle test results show that the anti-rollover control strategy of the counterbalance forklift based on the extension decision can effectively reduce the forklift roll range under high-speed emergency steering conditions, prevent the forklift from rolling over and improve the stability and active safety of the counterbalance forklift.
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Abbreviations
- a y :
-
lateral acceleration, m/s2
- ω r :
-
yaw rate, rad/s
- θ :
-
body roll angle
- » :
-
the weight coefficients of the lower yaw rate
- μ :
-
the weight coefficients of lateral acceleration
- F :
-
force, N
- S :
-
displacement of the steering cylinder link, m
- S(x, y) :
-
feature status of x and Y
- a i :
-
lateral acceleration of the classical domain boundary
- ω i :
-
yaw rate of the classical domain boundary
- P i :
-
feature coordinate
- ρ(x, y):
-
classical or extension domain
- K (S):
-
the correlation function
- k i :
-
quantisation factor
- K i :
-
integral coefficient
- K p :
-
proportionality coefficient
- K d :
-
differential coefficient
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Acknowledgement
This study was supported by the National Natural Science Foundation (51875151). The author would like to thank the state funding and all the participants for their assistance.
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Xia, G., Li, J., Tang, X. et al. Study on Anti-Rollover of the Counterbalance Forklift Based on Extension Hierarchical Control. Int.J Automot. Technol. 22, 643–656 (2021). https://doi.org/10.1007/s12239-021-0060-0
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DOI: https://doi.org/10.1007/s12239-021-0060-0