Abstract
In this paper, the control strategy of coordinated distribution of driving wheels rotary torque is adopted for solving side forklift steering stability problems that are caused by the lateral partial load. By analyzing the linear two-degree-of-freedom model of forklift, the expected value of forklift Yawing Angular Velocity and the Side-slip Angle of structure mass center can be determined as the system control target parameters. Then using fuzzy controller, we can generate the yawing moment which is required to drive forklift steering, according to those outputs, the drive wheel rotary torque are distributed. The forklift Yawing Angular Velocity and the Side-slip Angle can track the reference model very well under this control method. Based on this control strategy, the lateral stability control system is designed, the hybrid simulation is carried out using MATLAB/SIMULINK. The simulation results show that under the different partial load, the control system can effectively control side forklift lateral stability, enhance the forklift driving safety, which provides theoretical basis for the research of side forklift steering stability.
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