Forklift Stability Control Using Observer-Based Sensor Fault Compensation
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Solution Overview
Problem
Current forklift anti-rollover systems lack fault-tolerant control technology to handle sensor failures, leading to instability and safety concerns during operation.
Innovation Solution
A static output feedback control method is developed, which constructs a continuous-time fuzzy system model, uses a singular observer for state and output estimation, and implements a residual generator to minimize interference, allowing for reconfiguration of control laws and ensuring system stability despite sensor failures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensor failure occurs in the forklift anti-rollover system, then the system cannot normally receive required forklift operating information, but the safety and stability of the forklift during driving cannot be guaranteed
Solution Approach 1:
The patent implements a feedback mechanism where the observer continuously monitors system states and sensor outputs, compares them with expected values, and adjusts control inputs accordingly. The residual signal generator provides feedback on sensor health status, enabling the system to detect and compensate for sensor failures in real-time, thereby maintaining reliability during sensor failures
Solution Approach 2:
The patent introduces an intermediary observer system that acts as a mediator between the sensor failure and the control system. This observer estimates the true system state and sensor fault conditions, providing corrected information to the controller. The intermediary observer translates the harmful effect of sensor failure into useful diagnostic and compensatory actions
2Reliability
If fault-tolerant control technology is implemented to handle sensor failures, then system stability can be maintained, but the system complexity increases
Solution Approach 1:
The observer system performs multiple functions simultaneously: it estimates system states, detects sensor failures, generates residual signals for fault diagnosis, and provides compensated measurements for control. This multi-functionality reduces the need for separate dedicated components for each function, thereby limiting the increase in system complexity while maintaining stability
Solution Approach 2:
The patent merges the state estimation, fault detection, and control compensation functions into an integrated observer-based control architecture. By combining these functions that operate in a unified mathematical framework using the same system models and sensors, the patent avoids the complexity that would arise from separate independent systems
Data Source
AI summary
The invention discloses a static output feedback control method for forklift stability control and a storage medium. The control method comprises setting a Fuzzy system model, a singular observer module, a generalized observer module, a residual generator module, a static output feedback control method module for forklift stability control. The singular observer estimates the state and faults of the system simultaneously. The generalized observer is used to generate a residual signal that is as sensitive as possible to faults and insensitive to disturbances. The residual generator minimizes the system's sensitivity to disturbances while maximizing its sensitivity to faults. The static output feedback control method for forklift stability control uses measurable signals such as faults and states provided by the observer to control the dynamic system.