电动叉车线控转向系统的主动转向控制策略研究

发布时间：2018-03-14 00:26

本文选题：三轮线控转向系统　切入点：前后轮等角反向转动　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：电动叉车是一种重要的物流工具,因其环保、操作简便灵巧、高可靠性等优点,越发得到市场青睐。电动叉车线控转向系统摆脱了传统机械转向的束缚,拥有转向特性可以自由设计的特点,是当前电动叉车转向系统的发展热点,而主动转向控制对于改善电动叉车线控转向系统的转向性能有重要作用。主动转向控制技术是在线控转向的基础上,通过对表征车辆转向性能的参数:横摆角速度、质心侧偏角、转向半径等的控制,使这些参数在理想的范围之内,避免车辆不足转向和过度转向等现象,进而提高车辆的操纵稳定性和机动性。本文以三轮全转向电动叉车作为研究对象,对电动叉车线控转向系统的主动转向控制策略进行了深入研究。首先基于牛顿力学原理和阿克曼转角原理建立了三轮全转向叉车线性二自由度模型,为后文的转向控制策略研究提供一个模型平台;其次结合操纵稳定性能和机动性能两个方面,考虑叉车工作场所狭窄、频繁转向、负载变化明显等工作要求,研究了解耦控制、前后轮等角反向转动控制两种主动转向控制策略。然后根据三轮全向前移式电动叉车TFC20的实际数据,本文对以上两种控制策略的抗负载干扰、抗测量干扰能力进行了研究,并在高速斜坡、高速正弦、低速斜坡和低速正弦四种工况下,对两种控制策略进行了转向性能仿真分析,结果表明解耦控制策略具有高抗干扰能力、高稳定性、快速性等优点,前后轮等角反转控制策略具有较强的抗干扰能力、高机动性等优点。最后,结合叉车仓储搬运作业的实际工况,对三轮全转向叉车的斜行、原地转向两种特种运行模式进行了研究。
[Abstract]:Electric forklift is an important logistics tool, because of its environmental protection, convenient operation, high reliability and other advantages, more and more popular in the market. Having the characteristic that the steering characteristic can be freely designed is a hot spot in the development of electric forklift steering system. Active steering control plays an important role in improving steering performance of electric forklift steering system. The control of the side deflection angle and steering radius of the center of mass makes these parameters within the ideal range to avoid the phenomenon of understeer and excessive steering of the vehicle. In order to improve the maneuverability and stability of the vehicle, this paper takes the three-wheel fully steering electric forklift as the research object. The active steering control strategy of electric forklift steering system is deeply studied. Firstly, based on Newtonian mechanics and Ackermann angle theory, a linear two-degree-of-freedom model of three-wheel full steering forklift is established. It provides a model platform for the later study of steering control strategy. Secondly, considering the work requirements of forklift truck such as narrow working place, frequent steering and obvious load change, the decoupling control is studied in combination with maneuvering stability and maneuverability. According to the actual data of TFC20 of three-wheeled forklift electric forklift, the anti-load interference and anti-measurement interference ability of the above two control strategies are studied in this paper. Under the conditions of high speed slope, high speed sine, low speed slope and low speed sine, the steering performance of the two control strategies is simulated and analyzed. The results show that the decoupling control strategy has the advantages of high anti-interference ability, high stability and rapidity. The control strategy of equal angle inversion of front and rear wheels has the advantages of strong anti-interference ability, high mobility and so on. Finally, combined with the actual working conditions of forklift storage and handling, the oblique line of three-wheel full steering forklift is analyzed. Two special operation modes are studied.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH242

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