| ANTI-ROLLOVER CONTROL BASED ON STABLE ZONE PARTITION OF
COUNTERBALANCED FORKLIFT TRUCKS |
| Guang Xia1,3, Yan Xia1,3, Xiwen Tang2, Linfeng Zhao3, Jinfang Hu3 |
1Hefei University of Technology
2National University of Defense Technology
3Hefei University of Technology |
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| ABSTRACT |
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To improve the anti-rollover capacity of a counterbalanced forklift, a two-stage rollover dynamic model is
established on the basis of the forklift structure. Stable zones are divided according to the two-stage lateral load transfer rate:
stable region, relatively stable region, dangerous zone and abnormal dangerous zone. An anti-rollover layered control strategy
based on stable zone partition is proposed, and different anti-rollover control actuators are selected: dynamic balance weight,
anti-rollover cylinder and steering cylinder. Anti-rollover controllers consist of the upper stable region identification controller,
the middle-level controller based on model predictive control (MPC) and the lower layer executive controller. The upper stable
region identification controller performs stable zone recognition based on the two-stage lateral load transfer rate. The middlelevel
MPC controller calculates the required control torque with the body’s lateral angle and yaw rate as the control objectives.
The lower layer executive controller controls the balance weight, anti-rollover cylinder and the steering cylinder according to
the improved chain incremental allocation method to meet the target control torque. Simulation and real vehicle tests based
on MATLAB/Simulink show that the anti-rollover control based on stable zone partition can greatly reduce the risk of forklift
rollover and improve the forklift safety. |
| Key Words:
Counterbalanced forklift truck, Stable zone partition, Lateral load transfer rate, Model predictive control,
Improved chain incremental allocation |
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Corresponding Author.
Guang Xia , Email. 
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