基于横摆角速度反馈的三轮全转向电动叉车转向研究
发布时间：2018-07-16 22:21
【摘要】：文章以叉车二自由度线性模型为基础,结合叉车自身特点与转向要求,采用横摆角速度反馈控制策略对三轮全转向叉车进行控制研究。系统仿真输入为方向盘转角,系统输出为横摆角速度和质心侧偏角,通过横摆角速度反馈形成闭环控制,从而调节3个车轮输入转角。仿真结果表明,基于横摆角速度反馈的控制策略有效改善了三轮叉车的机动性能,提高了叉车操纵稳定性。
[Abstract]:Based on the two-degree-of-freedom linear model of forklift truck and combining with the characteristics and steering requirements of forklift truck, this paper studies the control of three-wheel full steering forklift truck with yaw angle velocity feedback control strategy. The system simulation input is steering wheel rotation angle, the system output is yaw angular velocity and centroid side deflection angle, through yaw angular velocity feedback to form a closed loop control, thereby adjusting the three wheel input rotation angle. The simulation results show that the control strategy based on yaw angular velocity feedback can effectively improve the maneuverability of the three-wheeled forklift truck and improve the handling stability of the forklift truck.
【作者单位】： 合肥工业大学电气与自动化工程学院;
【基金】：国家自然科学基金资助项目(61304007)
【分类号】：TH242
，
本文编号：2127823
[Abstract]:Based on the two-degree-of-freedom linear model of forklift truck and combining with the characteristics and steering requirements of forklift truck, this paper studies the control of three-wheel full steering forklift truck with yaw angle velocity feedback control strategy. The system simulation input is steering wheel rotation angle, the system output is yaw angular velocity and centroid side deflection angle, through yaw angular velocity feedback to form a closed loop control, thereby adjusting the three wheel input rotation angle. The simulation results show that the control strategy based on yaw angular velocity feedback can effectively improve the maneuverability of the three-wheeled forklift truck and improve the handling stability of the forklift truck.
【作者单位】： 合肥工业大学电气与自动化工程学院;
【基金】：国家自然科学基金资助项目(61304007)
【分类号】：TH242
，
本文编号：2127823
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