Design method of fuzzy logic motion controller of forklift

Abstract

The invention discloses a design method of a fuzzy logic motion controller of a forklift. The design method comprises the following steps: carrying out kinematical modeling of a forklift; obtaining a relation of error variables and designing optimized data; designing a fuzzy rule base by using a Lyapunov method; and carrying out designing and optimization of a membership function parameter. According to the invention, on the basis of a system stability theory in motion control, stability and stationarity of the controller are guaranteed; optimized design data are obtained based on a forklift ideal motion module; a membership function parameter in a fuzzy logic controller is optimized and designed by using a Newton iteration method. Therefore, the control precision is improved; the field debugging and testing time of the engineering staff is reduced; the efficiency is improved; and the cost is lowered. The design method has advantages of high reliability and practicability and high control precision and adaptability.

Description

technical field [0001] The invention relates to a design method of a controller, in particular to a design method for a forklift fuzzy logic motion controller. Background technique [0002] Automatic navigation forklift motion control is one of the key technologies to realize automatic navigation of forklifts. For forklifts to carry objects automatically, a more stable, smooth and adaptable motion controller is needed. Since the relevant motion models of forklifts with no load and heavy load will produce different changes, it is difficult to meet the requirements of forklift motion control for traditional controllers that rely on the motion model of the research object. Aiming at this problem, many researchers proposed to adopt the fuzzy logic motion controller which does not depend on the object model, which is one of the three recognized intelligent control methods at present. At present, there is no systematic method for the design of forklift fuzzy logic motion control...

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Problems solved by technology

[0007] The existing technology mainly has the following disadvantages: (1) There is no relatively systematic design method, nor is the design basis based on deep-level control theory, and there is a lack of reliable design basis; (2) The designed motion controller has poor stability and stability , the control accuracy and adaptability are difficult to meet the requirements; (3) There is no parameter optimization method, which requires engineers to carry out long-term on-site debugging work, which consumes a lot of manpower and material resources; (4) The motion control of forklifts is highly nonlinear, and the long-term experience The reliability of the method is poor, and it is difficult to meet the requirements

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