三轮全转向叉车的转向控制策略研究
发布时间：2018-09-10 12:03
【摘要】：文章以三轮全转向叉车转向系统的转向性能为研究对象,以线控转向系统整车二自由度模型为基础,结合叉车自身特点与转向要求,提出了前后轮等角反向转动控制、横摆角速度反馈控制2种控制策略。根据TFC20全向前移式电动叉车的实际数据,给出了基于车速、车轮转角的三轮全转向叉车转向系统性能的仿真对比分析。仿真结果表明,前后轮等角反向转动控制有效改善了传统三轮叉车机动性能,提高了叉车操纵灵活性;横摆角速度反馈控制有效改善了传统三轮叉车的横向稳定性,提高了叉车操纵稳定性。
[Abstract]:In this paper, the steering performance of three-wheeled full steering forklift system is taken as the research object, based on the two-degree-of-freedom model of wire steering system, combining with the characteristics and steering requirements of forklift truck itself, this paper puts forward the equal angle reverse rotation control of front and rear wheels. There are two control strategies for yaw speed feedback control. Based on the actual data of TFC20 forklift, the simulation and analysis of steering system performance of three-wheel full steering forklift based on speed and wheel rotation angle are presented. The simulation results show that the reverse rotation control of the front and rear wheels can effectively improve the maneuverability of the traditional three-wheel forklift truck and improve the maneuverability of the forklift truck, and the feedback control of the yaw angular velocity can effectively improve the lateral stability of the traditional three-wheel forklift truck. The handling stability of forklift truck is improved.
【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：2234389
[Abstract]:In this paper, the steering performance of three-wheeled full steering forklift system is taken as the research object, based on the two-degree-of-freedom model of wire steering system, combining with the characteristics and steering requirements of forklift truck itself, this paper puts forward the equal angle reverse rotation control of front and rear wheels. There are two control strategies for yaw speed feedback control. Based on the actual data of TFC20 forklift, the simulation and analysis of steering system performance of three-wheel full steering forklift based on speed and wheel rotation angle are presented. The simulation results show that the reverse rotation control of the front and rear wheels can effectively improve the maneuverability of the traditional three-wheel forklift truck and improve the maneuverability of the forklift truck, and the feedback control of the yaw angular velocity can effectively improve the lateral stability of the traditional three-wheel forklift truck. The handling stability of forklift truck is improved.
【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：2234389
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