本文選題：三輪線控轉(zhuǎn)向系統(tǒng)　切入點：前后輪等角反向轉(zhuǎn)動　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】：電動叉車是一種重要的物流工具,因其環(huán)保、操作簡便靈巧、高可靠性等優(yōu)點,越發(fā)得到市場青睞。電動叉車線控轉(zhuǎn)向系統(tǒng)擺脫了傳統(tǒng)機械轉(zhuǎn)向的束縛,擁有轉(zhuǎn)向特性可以自由設(shè)計的特點,是當(dāng)前電動叉車轉(zhuǎn)向系統(tǒng)的發(fā)展熱點,而主動轉(zhuǎn)向控制對于改善電動叉車線控轉(zhuǎn)向系統(tǒng)的轉(zhuǎn)向性能有重要作用。主動轉(zhuǎn)向控制技術(shù)是在線控轉(zhuǎn)向的基礎(chǔ)上,通過對表征車輛轉(zhuǎn)向性能的參數(shù):橫擺角速度、質(zhì)心側(cè)偏角、轉(zhuǎn)向半徑等的控制,使這些參數(shù)在理想的范圍之內(nèi),避免車輛不足轉(zhuǎn)向和過度轉(zhuǎn)向等現(xiàn)象,進(jìn)而提高車輛的操縱穩(wěn)定性和機動性。本文以三輪全轉(zhuǎn)向電動叉車作為研究對象,對電動叉車線控轉(zhuǎn)向系統(tǒng)的主動轉(zhuǎn)向控制策略進(jìn)行了深入研究。首先基于牛頓力學(xué)原理和阿克曼轉(zhuǎn)角原理建立了三輪全轉(zhuǎn)向叉車線性二自由度模型,為后文的轉(zhuǎn)向控制策略研究提供一個模型平臺;其次結(jié)合操縱穩(wěn)定性能和機動性能兩個方面,考慮叉車工作場所狹窄、頻繁轉(zhuǎn)向、負(fù)載變化明顯等工作要求,研究了解耦控制、前后輪等角反向轉(zhuǎn)動控制兩種主動轉(zhuǎn)向控制策略。然后根據(jù)三輪全向前移式電動叉車TFC20的實際數(shù)據(jù),本文對以上兩種控制策略的抗負(fù)載干擾、抗測量干擾能力進(jìn)行了研究,并在高速斜坡、高速正弦、低速斜坡和低速正弦四種工況下,對兩種控制策略進(jìn)行了轉(zhuǎn)向性能仿真分析,結(jié)果表明解耦控制策略具有高抗干擾能力、高穩(wěn)定性、快速性等優(yōu)點,前后輪等角反轉(zhuǎn)控制策略具有較強的抗干擾能力、高機動性等優(yōu)點。最后,結(jié)合叉車倉儲搬運作業(yè)的實際工況,對三輪全轉(zhuǎn)向叉車的斜行、原地轉(zhuǎn)向兩種特種運行模式進(jìn)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.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH242

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