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An anti-rollover control method for a counterbalanced forklift

A control method and anti-rollover technology, applied in the direction of hoisting equipment safety devices, hoisting devices, etc., can solve problems such as poor lateral stability of the vehicle body, research results that do not meet the requirements for product loading, and disordered relationship between the positions of the steering wheel and the wheels, etc. , to achieve the effect of improving the precision of fuzzy control, ensuring the profiling function and steering reliability

Active Publication Date: 2022-06-07
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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  • An anti-rollover control method for a counterbalanced forklift
  • An anti-rollover control method for a counterbalanced forklift
  • An anti-rollover control method for a counterbalanced forklift

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0206] Example 1: When the forklift is fully loaded, the vehicle speed is 10km / h, and the steering wheel speed is 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 rollover critical value. Locking the oil cylinder can play a better anti-rollover effect, and the active steering does not play a role, ensuring the reliability of the steering.

Embodiment 2

[0207] Example 2: When the forklift is unloaded, the vehicle speed is 19km / h, and the steering wheel speed is 0.8r / s, the peak value of the uncontrolled roll angle is 14.22°, y FRI The peak value is 0.24, and its values ​​all exceed the rollover critical value, and the forklift rolls over. The simple use of variable universe fuzzy locking cylinder control can play a certain role in preventing rollover, but the effect is general, and the peak value of the roll angle can still reach 6.42°. The combined control of variable universe fuzzy locking cylinder and active steering can further improve the lateral dynamic stability of the forklift, and 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] In summary, the use of the control method for preventing the forklift from rolling over in the present invention can ensure the stability of the forklift's steering and prev...

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Abstract

The invention discloses an anti-rollover control method for a counterbalanced forklift, which is based on the combination of a center of gravity projected point (Center OfGravity, COG) and a foot rotation indicator (Foot Rotation Indicator, FRI). As the lateral stability evaluation index, the forklift roll degree is judged by comparing the positional relationship between the COG centroid of the ground reference point, the FPI centroid and the support area, and the forklift lateral stability state is divided into three levels. For different lateral stability states, use the lock Different joint control methods of oil stop cylinder and active steering are used to achieve rollover prevention effect.

Description

technical field [0001] The invention belongs to the field of forklifts, and relates to an anti-rollover control method for a counterbalanced forklift. Background technique [0002] As a common cargo handling vehicle, counterbalanced forklifts are widely used in manufacturing, warehousing, transportation and other industries. part. Therefore, our technical requirements for forklifts are becoming more and more strict. During the use of forklifts, accidents such as rollover will inevitably occur. Therefore, in order to reduce the occurrence of accidents, it is necessary to improve the anti-rollover ability of forklifts and enhance driving safety. [0003] At present, the two biggest defects of domestic forklift trucks are the poor lateral stability of the body and the inability of the steering system to achieve steering synchronization. The wheel position correspondence is disordered. The domestic research on the anti-rollover of forklifts and the synchronous steering of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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