Abstract

Two methods are explored for improving the manoeuvrability of fork-lift trucks driven by chopper-controlled series motors. The first method attempts nonlinear feedforward cancellation of one system state (speed) but is shown to be unstable by simulation and analytical solution of the system equations. The instability results from neglect of field inductive effects in the feedforward model. A second method employs synthesised torque and transient-velocity estimates derived purely from armature current feedback. The method is shown by simulation to be highly tolerant of uncertainty in the vehicle and drive parameter estimates and to produce overall control characteristics resembling those of Ward-Leonard drives. The manual handling of the truck on a variable-gradient test track shows a considerable improvement on conventional linear current control systems.

Talk to us

Join us for a 30 min session where you can share your feedback and ask us any queries you have

Schedule a call

Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.