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摘要
In order to improve the anti-rollover capacity of a counterbalanced forklift under the rapid rotation condition, a two-stage rollover dynamic model is established on the basis of the forklift structure. Based on the two-stage lateral load transfer rate, the mechanism of forklift rollover is analyzed and the stable zones are divided into stable zone, relatively stable zone, dangerous zone and abnormal dangerous zone. An anti-rollover layered control strategy based on stable zone partition is proposed, and different anti-rollover control actuators are selected according to different stable zones: dynamic balance block, hydraulic support cylinder and steering cylinder. Anti-rollover controller is composed of the upper stable domain identification controller, the middle-level controller based on model predictive control (MPC) and the lower layer executive controller. The upper stable domain identification controller performs forklift stable zone recognition based on the two-stage lateral load transfer rate, while the mid-level MPC controller calculates the required control torque with the body's lateral angle and yaw rate as the control objectives, and the lower-level executive controller adopts an improved chain incremental allocation method to control the dynamic balance block, hydraulic support cylinder and steering cylinder to meet the target control torque. This experiment uses Matlab/Simulink for simulation and actual vehicle test verification. The results show that the anti-rollover control of counterbalanced forklift truck based on stable zone partition can greatly reduce the risk of forklift rollover and improve the forklift safety. ? 2022 Journal of Mechanical Engineering.
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