【摘要】：文章以三輪全轉(zhuǎn)向叉車轉(zhuǎn)向系統(tǒng)的轉(zhuǎn)向性能為研究對(duì)象,以線控轉(zhuǎn)向系統(tǒng)整車二自由度模型為基礎(chǔ),結(jié)合叉車自身特點(diǎn)與轉(zhuǎn)向要求,提出了前后輪等角反向轉(zhuǎn)動(dòng)控制、橫擺角速度反饋控制2種控制策略。根據(jù)TFC20全向前移式電動(dòng)叉車的實(shí)際數(shù)據(jù),給出了基于車速、車輪轉(zhuǎn)角的三輪全轉(zhuǎn)向叉車轉(zhuǎn)向系統(tǒng)性能的仿真對(duì)比分析。仿真結(jié)果表明,前后輪等角反向轉(zhuǎn)動(dòng)控制有效改善了傳統(tǒng)三輪叉車機(jī)動(dòng)性能,提高了叉車操縱靈活性;橫擺角速度反饋控制有效改善了傳統(tǒng)三輪叉車的橫向穩(wěn)定性,提高了叉車操縱穩(wěn)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.
【作者單位】： 合肥工業(yè)大學(xué)電氣與自動(dòng)化工程學(xué)院;
【基金】：國家自然科學(xué)基金資助項(xiàng)目(61304007)
【分類號(hào)】：TH242
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本文編號(hào)：2234389