| STUDY ON ANTI-ROLLOVER OF THE COUNTERBALANCE FORKLIFT BASED ON EXTENSION HIERARCHICAL CONTROL |
| Guang Xia1, Jiacheng Li1, Xiwen Tang2, Linfeng Zhao1, Baoqun Sun1 |
1Hefei University of Technology
2National University of Defense Technology |
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| ABSTRACT |
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The anti-rollover control actuator of a counterbalance forklift is determined by analysing its structural characteristics and roll-over mechanism. An anti-rollover control strategy for counterbalance forklifts based on extension decision is proposed, and the anti-rollover extension hierarchical controller, including the upper-layer extension and lower-layer execution controls, is designed. The upper-layer extension controller divides the forklift anti-rollover control domain into three types, namely, classical domain, extension domain and non-domain, and determines the weight coefficient of the lower layer execution controller. The lower-layer execution controller receives the weight coefficient determined by the upper-layer extension controller, controls the weight distribution on the yaw rate and lateral acceleration controllers and executes the command to obtain the anti-rollover extension control of the counterbalance forklift. The European standard condition simulation and real vehicle test results show that the anti-rollover control strategy of the counterbalance forklift based on the extension decision can effectively reduce the forklift roll range under high-speed emergency steering conditions, prevent the forklift from rolling over and improve the stability and active safety of the counterbalance forklift. |
| Key Words:
Counterbalance forklift, Rollover prevention, Extension hierarchical control, Fuzzy PID, Real vehicle test |
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Corresponding Author.
Guang Xia , Email. 
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