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Anti-rollover control method for balance weight type forklift

A control method and anti-rollover technology, applied in lifting equipment safety devices, hoisting devices, etc., can solve problems such as poor lateral stability of the vehicle body, unresolved core technology, and disordered relationship between the steering wheel and the wheel position

Active Publication Date: 2021-07-06
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the two biggest defects of domestic forklifts are the poor lateral stability of the body and the inability of the steering system to achieve synchronous steering. The corresponding relationship of the wheel position is disordered
Domestic research on forklift anti-rollover and synchronous steering of the steering system is still in its infancy, the control method and control process are relatively rough, the core technology has not yet been tackled, and the research results do not meet the requirements for product loading.

Method used

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  • Anti-rollover control method for balance weight type forklift
  • Anti-rollover control method for balance weight type forklift
  • Anti-rollover control method for balance weight type forklift

Examples

Experimental program
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Effect test

Embodiment 1

[0206] Example 1: When the forklift is fully loaded, the vehicle speed is 10km / h, and the steering wheel rotates at 2r / s, the peak value of the roll angle is 8.56°, y FRI The peak value is 0.16, which is close to the critical value of rollover. The locking cylinder can play a better anti-rollover effect, and the active steering does not play a role, which ensures the reliability of the steering.

Embodiment 2

[0207] Embodiment 2: When the forklift is unloaded, the vehicle speed is 19km / h, and the steering wheel rotates at a speed of 0.8r / s, the peak value of the uncontrolled roll angle is 14.22°, y FRI The peak value is 0.24, all of which exceed the rollover critical value, and the forklift rollover occurs. Simple use of variable universe fuzzy locking cylinder control can play a certain role in preventing rollover, but the effect is mediocre, and the peak value of the roll angle can still reach 6.42°. The joint control of variable universe fuzzy locking cylinder and active steering can further improve the lateral dynamic stability of the forklift, and the variable universe fuzzy PID active steering has a smaller peak value of roll angle than fuzzy PID active steering, so as to achieve imitation rollover Effect.

[0208] To sum up, the anti-rollover control method of the forklift of the present invention can ensure the stability of the steering of the forklift and prevent the fork...

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Abstract

The invention discloses an anti-rollover control method for a balance weight type forklift. The method comprises the steps that a mode of combining a center of gravity (COG) projection point and a foot turnover indicator (FRI) based on robot stability criterion serves as a transverse stability evaluation index, the rollover degree of the forklift is judged by comparing the position relation between the COG mass center and the FPI mass center of a ground reference point and a supporting area, the transverse stability state of the forklift is divided into three levels, and the anti-rollover effect is achieved for different transverse stability states through a locking oil cylinder and different active steering combined control methods.

Description

technical field [0001] The invention belongs to the field of forklifts, and relates to an anti-rollover control method for counterbalanced forklifts. Background technique [0002] As a commonly used cargo handling vehicle, counterbalanced forklifts are widely used in manufacturing, warehousing, transportation and other industries. They are used more and more widely in today's highly economically developed society and have gradually become indispensable for industrial development. part. Therefore, our technical requirements for forklifts are becoming more and more strict. During the use of forklifts, accidents such as rollovers will inevitably occur. Therefore, in order to reduce the occurrence of accidents, it is necessary to improve the anti-rollover capabilities of forklifts and enhance driving safety. [0003] At present, the two biggest defects of domestic forklifts are the poor lateral stability of the body and the inability of the steering system to achieve synchronou...

Claims

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Application Information

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IPC IPC(8): B66F9/075B66F17/00
CPCB66F9/07504B66F9/07568B66F17/003
Inventor 夏光张华磊夏岩钱峰陈建杉刘贤阳魏志祥施展汪韶杰孙保群
Owner HEFEI UNIV OF TECH