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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
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
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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