【摘要】 目前对三轮全转向叉车的研究一般集中在研究车辆模型,但缺乏考虑转向规律是否符合阿克曼转向定理,也缺乏对各类工况下的叉车转向分析,尤其是负载情况下的叉车转向分析。文章以车辆的二自由度线性模型为基础进行展开研究。整车系统仿真的输入为方向盘转角,模糊控制器以质心侧偏角等于0为控制目标来控制后轮转角,同时用阿克曼转向定理来调整左前轮和右前轮转角,由此实现三轮全转向。最后通过对各种转向工况下的仿真,验证了模糊控制转向策略的有效性。更多还原

【Abstract】 At present,the research on three-wheel steering forklift generally concentrates on the vehicle model,ignoring whether the steering law is in accordance with Ackermann steering theorem,and lacking the analysis of the steering performance of forklift under all kinds of working conditions,especially the analysis of the steering performance of forklift under load.This study is based on a 2-DOF linear vehicle model.The steering wheel angle is input to the simulation of vehicle system,and the fuzzy controller controls the angle of rear wheel to make sure that the sideslip angle is equal to zero,and simultaneously adjusts the left front wheel angle and the right front wheel angle according to Ackermann steering theorem,thus realizing the three-wheel independent steering.Finally,the simulation results under different steering conditions show the effectiveness of the presented fuzzy control based steering strategy.更多还原