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LQR control method and device for forklift, storage medium and controller

A control method and forklift technology, which are applied in the fields of instruments, special data processing applications, electrical digital data processing, etc., can solve problems such as slow driving speed

Pending Publication Date: 2019-10-18
SF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, for unconventional vehicles such as forklifts, due to the slow speed, some relatively simple non-LQR control methods are usually used at present. However, with the improvement of the control accuracy requirements for forklifts, how to apply LQR algorithm The control of forklifts has become an urgent problem for technicians

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  • LQR control method and device for forklift, storage medium and controller
  • LQR control method and device for forklift, storage medium and controller
  • LQR control method and device for forklift, storage medium and controller

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Embodiment Construction

[0022] Embodiments of the present invention provide an LQR control method, device, storage medium and controller for a forklift, which can apply the LQR algorithm to the control of the forklift, thereby improving the control accuracy of the forklift.

[0023] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the following The described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0024] see figure 1 , a kind of LQR control method of forklift in the embodiment of th...

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Abstract

The invention relates to the technical field of vehicle control, and provides an LQR control method and device for a forklift, a storage medium and a controller. The LQR control method comprises: constructing a coordinate system with an original point located at the movement starting position of a forklift; according to the axle distance between the front axle and the rear axle of the forklift, the steering angles of the driving wheels, the course angle of the forklift and the speed of the forklift, solving the speed component and the angular speed of the forklift under the coordinate system;expressing the speed component and the angular speed of the forklift in the coordinate system as a matrix form, and constructing a kinematic model of the forklift; and applying an LQR algorithm to thekinematic model to realize LQR control of the forklift. According to the method, the kinematic model of the forklift is derived by analyzing the motion state of the forklift, and then the LQR algorithm is applied to the kinematic model, so that the LQR control of the forklift is realized, and the control precision of the forklift is improved.

Description

technical field [0001] The present invention relates to the technical field of vehicle control, in particular to an LQR control method, device, storage medium and controller of a forklift. Background technique [0002] LQR (linear quadratic regulator) is a linear quadratic regulator control algorithm. As a mainstream optimal control algorithm, it is favored by developers due to its high control accuracy and is widely used in the control field of unmanned vehicles. [0003] However, for unconventional vehicles such as forklifts, due to the slow speed, some relatively simple non-LQR control methods are usually used at present. However, with the improvement of the control accuracy requirements for forklifts, how to apply LQR algorithm Forklift control has become an urgent issue for technicians. Contents of the invention [0004] In view of this, the embodiments of the present invention provide an LQR control method, device, storage medium and controller for a forklift, which...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/15G06F30/20Y02T10/40
Inventor 王羽麟唐靖华袁乐天任承锦
Owner SF TECH