本文關(guān)鍵詞： 三輪叉車(chē) 線控轉(zhuǎn)向系統(tǒng) 理想傳動(dòng)比 滑�？刂� 操縱穩(wěn)定性　出處：《合肥工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：隨著現(xiàn)代物流行業(yè)的迅速發(fā)展,巨大的競(jìng)爭(zhēng)壓力已經(jīng)使得傳統(tǒng)的人工搬運(yùn)方式無(wú)法在運(yùn)輸效率上取得優(yōu)勢(shì),因此以叉車(chē)為主的機(jī)械化搬運(yùn)得到了企業(yè)的重視,叉車(chē)迎來(lái)了擴(kuò)大發(fā)展的機(jī)遇。同時(shí)線控轉(zhuǎn)向系統(tǒng)的引入為車(chē)輛轉(zhuǎn)向系統(tǒng)帶來(lái)了新的發(fā)展理念和技術(shù)革新,適用于頻繁轉(zhuǎn)向的叉車(chē),可以解決傳統(tǒng)轉(zhuǎn)向中存在的弊端,因此對(duì)叉車(chē)的線控轉(zhuǎn)向技術(shù)研究具有重要的理論和實(shí)際意義。本文以三輪轉(zhuǎn)向叉車(chē)為研究對(duì)象,針對(duì)三輪線控叉車(chē)轉(zhuǎn)向穩(wěn)定性和車(chē)輪轉(zhuǎn)角跟蹤問(wèn)題,以三輪叉車(chē)后輪轉(zhuǎn)向動(dòng)力學(xué)模型和叉車(chē)線控轉(zhuǎn)向系統(tǒng)數(shù)學(xué)模型為基礎(chǔ);然后基于橫擺角速度增益恒定的理想變傳動(dòng)比控制策略得到目標(biāo)后輪轉(zhuǎn)角,并考慮到叉車(chē)轉(zhuǎn)向執(zhí)行機(jī)構(gòu)中不確定參數(shù)的約束信息、不確定回正力矩以及路面的干擾信息,設(shè)計(jì)了滑模變結(jié)構(gòu)轉(zhuǎn)角跟蹤控制策略。仿真結(jié)果表明,通過(guò)以上兩種控制策略的結(jié)合,提高了叉車(chē)轉(zhuǎn)向的靈敏性和穩(wěn)定性;同時(shí)有效抑制了線控轉(zhuǎn)向系統(tǒng)內(nèi)部的參數(shù)攝動(dòng)和外部干擾,改善了車(chē)輪轉(zhuǎn)角跟蹤性能。為了改善傳統(tǒng)后輪叉車(chē)轉(zhuǎn)向性能的不足,對(duì)全轉(zhuǎn)向線控三輪叉車(chē)二自由度轉(zhuǎn)向動(dòng)力學(xué)模型進(jìn)行了研究。從人-車(chē)閉環(huán)角度出發(fā),結(jié)合叉車(chē)操縱穩(wěn)定性綜合評(píng)價(jià)指標(biāo)與遺傳算法,優(yōu)化得出叉車(chē)行駛過(guò)程中的理想橫擺角速度增益。以零化質(zhì)心側(cè)偏角和跟蹤理想橫擺角速度為目的,設(shè)計(jì)了滑�？刂破髦鲃�(dòng)控制叉車(chē)前后輪轉(zhuǎn)角,并采用切換增益模糊調(diào)節(jié)法降低系統(tǒng)抖振。仿真結(jié)果表明,基于滑�？刂频娜D(zhuǎn)向線控三輪叉車(chē)同時(shí)實(shí)現(xiàn)了減小質(zhì)心側(cè)偏角與跟蹤理想橫擺角速度的控制目標(biāo),提高了叉車(chē)的操縱穩(wěn)定性,并有效減輕了駕駛員的駕駛負(fù)擔(dān)。
[Abstract]:With the rapid development of modern logistics industry, the huge competitive pressure has made the traditional manual handling method unable to obtain the advantage in the transportation efficiency. Therefore, the mechanized handling based on forklift has been attached great importance to by enterprises. At the same time, the introduction of wire steering system has brought new development concept and technological innovation to vehicle steering system, which is suitable for forklift truck with frequent steering, and can solve the disadvantages of traditional steering. Therefore, it is of great theoretical and practical significance to study the wire steering technology of forklift truck. This paper takes the three-wheel steering forklift truck as the research object, aiming at the steering stability and wheel angle tracking problem of the three-wheeled forklift truck. Based on the dynamic model of rear wheel steering of three-wheeled forklift truck and the mathematical model of forklift steering system, the rotation angle of the target rear wheel is obtained based on the ideal variable transmission ratio control strategy with constant yaw angular velocity gain. Considering the constraint information of uncertain parameters, uncertain return moment and disturbance information of road surface in the steering actuator of forklift truck, a sliding mode variable structure angular tracking control strategy is designed. The simulation results show that, Through the combination of the above two control strategies, the sensitivity and stability of forklift steering are improved, and the internal parameter perturbation and external interference of the wire steering system are effectively restrained. In order to improve the steering performance of the traditional rear wheel forklift truck, the two-degree-of-freedom steering dynamics model of the fully steering wire controlled three-wheel forklift truck is studied. Combined with the comprehensive evaluation index of the handling stability of forklift truck and genetic algorithm, the ideal yaw angular velocity gain in the driving process of forklift truck is optimized. The aim is to zero the side deflection angle of the center of mass and track the ideal yaw angular velocity. The sliding mode controller is designed to control the front and rear wheel rotation angle of forklift truck, and the switching gain fuzzy adjustment method is used to reduce the buffeting of the system. The simulation results show that, The full steering wire controlled three-wheel forklift truck based on sliding mode control realizes the control goal of reducing the side deflection angle of mass center and tracking the ideal yaw angle at the same time, improves the handling stability of the forklift truck, and effectively lightens the driver's driving burden.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH242

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本文編號(hào)：1511918