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International Journal of Automotive Technology > Volume 22(3); 2021 > Article
International Journal of Automotive Technology 2021;22(3): 643-656.
doi: https://doi.org/10.1007/s12239-021-0060-0
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
PDF Links Corresponding Author.  Guang Xia , Email. xiaguang008@hfut.edu.cn
ABSTRACT
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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