【摘要】：文章以叉車二自由度線性模型為基礎(chǔ),結(jié)合叉車自身特點與轉(zhuǎn)向要求,采用橫擺角速度反饋控制策略對三輪全轉(zhuǎn)向叉車進(jìn)行控制研究。系統(tǒng)仿真輸入為方向盤轉(zhuǎn)角,系統(tǒng)輸出為橫擺角速度和質(zhì)心側(cè)偏角,通過橫擺角速度反饋形成閉環(huán)控制,從而調(diào)節(jié)3個車輪輸入轉(zhuǎn)角。仿真結(jié)果表明,基于橫擺角速度反饋的控制策略有效改善了三輪叉車的機(jī)動性能,提高了叉車操縱穩(wěn)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.
【作者單位】： 合肥工業(yè)大學(xué)電氣與自動化工程學(xué)院;
【基金】：國家自然科學(xué)基金資助項目(61304007)
【分類號】：TH242
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本文編號：2127823