基于侧倾分级的叉车横向稳定性变论域模糊控制
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摘要
在分析平衡重式叉车的结构特性以及侧翻机理的基础上,将叉车的侧倾状况分为一级侧倾状况和二级侧倾状况,并提出一种平衡重式叉车的横向稳定性侧倾分级控制策略,叉车侧倾控制的执行机构设计为一种新型三连杆液压支撑调整机构;平衡重式叉车的侧倾分级控制器的设计采取变论域模糊控制方法,当叉车处于一级侧倾状况时,基于侧倾变论域的模糊控制的级别为一级;当叉车处于二级侧倾状况时,基于侧倾变论域的模糊控制的级别为二级;基于ADAMS建立叉车整车虚拟样机模型并与Matlab/Simulink进行联合仿真和实车试验验证,结果表明采取基于侧倾分级的叉车横向稳定性变论域的模糊控制策略可有效提高叉车的横向稳定性。
Based on the analysis of structural characteristics and tilting mechanism of the balanced weight forklift, tilt of the forklift is divided into first-stage tilt and second-stage tilt, Strategies of control of the tilting stage for lateral stability of the balanced weight forklift are also presented in this paper. A new type of three-link hydraulic-support adjusting mechanism as the actuator for control of the forklift tilt is designed. And the controller is designed by adopting the variabe universe fuzzy control theory based on the forklift's tilting stage. When the forklift is on the first-stage tilt, then variabe universe fuzzy control of first-stage tilt is adopted, and when the forklift is on the second-stage tilt, then variabe universe fuzzy control of second-stage tilt is adopted. Virtual prototype model of the whole forklift is established and joint simulation combined with MATLAB/Simulink as well as the verification of real vehicle test are proceeded. Results showed that the lateral stability and the active safety characteristics of forklift can be improved effectively by applying the variable universe fuzzy control theory based on the division of the tilting stage of the forklift.
Based on the analysis of structural characteristics and tilting mechanism of the balanced weight forklift, tilt of the forklift is divided into first-stage tilt and second-stage tilt, Strategies of control of the tilting stage for lateral stability of the balanced weight forklift are also presented in this paper. A new type of three-link hydraulic-support adjusting mechanism as the actuator for control of the forklift tilt is designed. And the controller is designed by adopting the variabe universe fuzzy control theory based on the forklift's tilting stage. When the forklift is on the first-stage tilt, then variabe universe fuzzy control of first-stage tilt is adopted, and when the forklift is on the second-stage tilt, then variabe universe fuzzy control of second-stage tilt is adopted. Virtual prototype model of the whole forklift is established and joint simulation combined with MATLAB/Simulink as well as the verification of real vehicle test are proceeded. Results showed that the lateral stability and the active safety characteristics of forklift can be improved effectively by applying the variable universe fuzzy control theory based on the division of the tilting stage of the forklift.
引文
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[10]朱天军.基于改进TTR重型车辆侧翻预警及多目标稳定性控制算法研究[D].长春:吉林大学,2010.ZHU Tianjun.Research on improved TTR rollover warning and multi-objective stability control algorithm of heavy duty vehicle[D].Changchun:Jilin University,2010.
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[12]徐延海.基于主动转向技术的汽车防倾翻控制的研究[J].汽车工程,2005,27(5):518-521.XU Yanhai.A study on vehicle rollover avoidance control based on active steering technique[J].Automotive Engineering,2005,27(5):518-521.
[13]陈伟强.平衡重式叉车空载行驶倾翻原因及预防措施[J].工程机械与维修,2011(8):172-173.CHEN Weiqiang.Causes and preventive measures of Noload driving tilting for balance truck[J].Construction Machinery and Maintenance,2011(8):172-173.
[14]杜克.基于相平面和侧倾分级控制的平衡重式叉车横向稳定性研究[D].合肥:合肥工业大学,2018.DU Ke.Research on lateral stability of counterbalanced forklift based on phase plane and rolling grading control[D].Hefei:Hefei University of Technology,2017.
[15]郭海刚,李洪兴,胡凯.一类变论域自适应模糊控制器[J].模糊系统与数学,2011,25(6):32-42.GUO Haigang,LI Hongxing,HU Kai.Variable universe adaptive fuzzy controller[J].Fuzzy Systems and Mathematics,2011,25(6):32-42.
[16]方子帆,邓兆祥,翁建生.汽车磁流变半主动悬架的控制研究[J].中国公路学报,2006,19(2):106-110.FANG Zifan,DENG Zhaoxiang,WENG Jiansheng.Study of control strategy of automobile magnetorheological semiactive suspension[J].China Journal of Highway and Transport,2006,19(2):106-110.
[17]李良峰.变论域模糊控制算法研究[D].成都:电子科技大学,2008.LI Liangfeng.Research on fuzzy control algorithm of variable universe[D].Chengdu:University of Electronic Science and Technology of China,2008.
[18]郝君起.叉车总体设计CAD技术研究[D].太原:太原科技大学,2011.HAO Junqi.Research on CAD technology of overall design of forklift truck[D].Taiyuan:Taiyuan University of Science and Technology,2011.
[19]毕成亚,郑颖龙,吴燕红.平衡重式叉车动态稳定性试验研究[J].工程机械,2014,45(12):19-24.BI Chengya,ZHENG Yinlong,WU Yanhong.Experimental study on dynamic stability of balance truck[J].Engineering Machinery,2014,45(12):19-24.
[2]黄帅.基于联合仿真的平衡重式叉车横向稳定性控制研究[D].合肥:合肥工业大学,2017.HUANG Shuai.Research on lateral stability control of counterbalanced Forklift based on co-simulation[D].Hefei:Hefei University of Technology,2017.
[3]杜少华.叉车事故数据分析及安全注意事项[EB/OL].[2015-07-09].http://www.chinaforklift.com/news/detail/201507/44455.html.DU Shaohua.Analysis of forklift accident data and safety precautions[EB/OL].[2015-07-09].http://www.chinaforklift.com/news/detail/201507/44455.html.
[4]余绍华,任家权.叉车主动式稳定系统研究[J].物流技术与应用,2013,18(8):125-129.YU Shaohua,REN Jiaquan.Research on active stability system of forklift truck[J].Logistics&Material Handing,2013,18(8):125-129.
[5]ROEBUCK R L.A systems approach to controlled heavy vehicle suspensions[J].International Journal of Heavy Vehicle Systems,2005,12(3):169-192.
[6]SOLMAZ S,CORLESS M,SHORTEN R.Amethodology for the design of robust rollover prevention controllers for automotive vehicles with active steering[J].International Journal of Control,2007,80(11):1763-1779.
[7]MIEGE A J P,CEBON D.Active roll control of an experimental articulated vehicle[J].Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering,2005,219(6):791-806.
[8]李学飞.铰接转向车辆侧倾失稳机理及主动防倾翻控制方法研究[D].长春:吉林大学,2014.LI Xuefei.Study on rollover instability mechanise and active anti-rollover control method for articulated steer vehicles[D].Changchun:Jilin University,2014.
[9]宗长富,朱天军,麦莉,等.基于全局增益调度控制的重型半挂车主动侧倾控制算法[J].机械工程学报,2008,44(10):138-144.ZONG Changfu,ZHU Tianjun,MAI Li,et al.Active roll control algorithm of heavy tractor semi-trailer based on global gain scheduling control[J].Chinese Journal of Mechanical Engineering,2008,44(10):138-144.
[10]朱天军.基于改进TTR重型车辆侧翻预警及多目标稳定性控制算法研究[D].长春:吉林大学,2010.ZHU Tianjun.Research on improved TTR rollover warning and multi-objective stability control algorithm of heavy duty vehicle[D].Changchun:Jilin University,2010.
[11]宋宇,陈无畏,陈黎卿.基于ADAMS与Matlab的车辆稳定性控制联合仿真研究[J].机械工程学报,2011,47(16):86-92.SONG Yu,CHEN Wuwei,CHEN Liqing.Study on co-simulation of vehicle stability control based on ADAMS and Matlab[J].Chinese Journal of Mechanical Engineering,2011,47(16):86-92.
[12]徐延海.基于主动转向技术的汽车防倾翻控制的研究[J].汽车工程,2005,27(5):518-521.XU Yanhai.A study on vehicle rollover avoidance control based on active steering technique[J].Automotive Engineering,2005,27(5):518-521.
[13]陈伟强.平衡重式叉车空载行驶倾翻原因及预防措施[J].工程机械与维修,2011(8):172-173.CHEN Weiqiang.Causes and preventive measures of Noload driving tilting for balance truck[J].Construction Machinery and Maintenance,2011(8):172-173.
[14]杜克.基于相平面和侧倾分级控制的平衡重式叉车横向稳定性研究[D].合肥:合肥工业大学,2018.DU Ke.Research on lateral stability of counterbalanced forklift based on phase plane and rolling grading control[D].Hefei:Hefei University of Technology,2017.
[15]郭海刚,李洪兴,胡凯.一类变论域自适应模糊控制器[J].模糊系统与数学,2011,25(6):32-42.GUO Haigang,LI Hongxing,HU Kai.Variable universe adaptive fuzzy controller[J].Fuzzy Systems and Mathematics,2011,25(6):32-42.
[16]方子帆,邓兆祥,翁建生.汽车磁流变半主动悬架的控制研究[J].中国公路学报,2006,19(2):106-110.FANG Zifan,DENG Zhaoxiang,WENG Jiansheng.Study of control strategy of automobile magnetorheological semiactive suspension[J].China Journal of Highway and Transport,2006,19(2):106-110.
[17]李良峰.变论域模糊控制算法研究[D].成都:电子科技大学,2008.LI Liangfeng.Research on fuzzy control algorithm of variable universe[D].Chengdu:University of Electronic Science and Technology of China,2008.
[18]郝君起.叉车总体设计CAD技术研究[D].太原:太原科技大学,2011.HAO Junqi.Research on CAD technology of overall design of forklift truck[D].Taiyuan:Taiyuan University of Science and Technology,2011.
[19]毕成亚,郑颖龙,吴燕红.平衡重式叉车动态稳定性试验研究[J].工程机械,2014,45(12):19-24.BI Chengya,ZHENG Yinlong,WU Yanhong.Experimental study on dynamic stability of balance truck[J].Engineering Machinery,2014,45(12):19-24.
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