The invention discloses an electric forklift multi-mode driving switching method and
system based on multivariable cooperation, and relates to the technical field of industrial vehicle
intelligent control. The method is used for solving the problems of one-sided working condition sensing, switching oscillation and safety
fault tolerance deficiency in multi-mode driving. The method comprises the following steps: firstly, generating a dynamically weighted working condition
feature vector through multi-source
sensing data fusion, and quantifying a stability risk, an
energy consumption constraint and a
power demand; secondly, based on a stability risk trigger steering safety envelope, arbitrating a multi-mode priority and correcting a torque upper limit in combination with a
fuzzy rule to form an anti-conflict execution sequence; then,
torque distribution and a
steering angle acceleration instruction are optimized in a rolling mode in the safe envelope boundary, center-of-gravity shift is synchronously restrained, the track precision is improved, and
energy consumption is reduced; finally, the control authority is transferred adaptively according to the operation intensity of a driver, when the decision is abnormal, the load-ramp rule base is degraded, an instruction is transferred through an S-shaped curve, and a torque balancing strategy is executed at the high position of a
pallet fork to maintain stable.