【摘要】：隨著叉車工業(yè)技術(shù)的快速發(fā)展及其在物流系統(tǒng)的廣泛應(yīng)用,叉車操縱穩(wěn)定性問題日益受到人們的關(guān)注。四輪轉(zhuǎn)向是一種有效提高車輛行駛安全和操縱穩(wěn)定性的主動控制技術(shù),能夠減小車輛的轉(zhuǎn)彎半徑,使其轉(zhuǎn)向更加靈活。裝配線控轉(zhuǎn)向系統(tǒng)的車輛通過電信號傳遞轉(zhuǎn)向控制信息,不僅節(jié)能環(huán)保,而且提高了車輛設(shè)計(jì)的靈活性,同時(shí)也使得跟蹤車輛轉(zhuǎn)向的期望狀態(tài)成為可能。本文以四輪線控轉(zhuǎn)向叉車為研究對象,并結(jié)合預(yù)瞄最優(yōu)曲率駕駛員模型,對四輪轉(zhuǎn)向叉車控制策略進(jìn)行深入研究。首先基于魔術(shù)公式引入了叉車非線性輪胎模型,并在此基礎(chǔ)上基于車輛標(biāo)準(zhǔn)坐標(biāo)系推導(dǎo)出非線性三自由度四輪轉(zhuǎn)向叉車動力學(xué)模型,同時(shí)根據(jù)叉車特點(diǎn)引入駕駛員模型和雙移線道路模型的閉環(huán)系統(tǒng)模型,為后文的控制器研究設(shè)計(jì)提供一個(gè)良好的仿真模型平臺。其次考慮到實(shí)時(shí)準(zhǔn)確地獲取叉車行駛中的關(guān)鍵狀態(tài)變量是實(shí)現(xiàn)四輪轉(zhuǎn)向控制系統(tǒng)設(shè)計(jì)的前提,針對質(zhì)心側(cè)偏角不易測量的特點(diǎn),分別基于擴(kuò)展卡爾曼濾波和無跡卡爾曼濾波理論建立了非線性二自由度質(zhì)心側(cè)偏角估計(jì)模型,并通過仿真驗(yàn)證了所設(shè)計(jì)的無跡卡爾曼質(zhì)心側(cè)偏角估計(jì)模型在開環(huán)和閉環(huán)系統(tǒng)中的有效性。最后針對叉車系統(tǒng)參數(shù)攝動和外部干擾等不確定因素影響,基于線控轉(zhuǎn)向技術(shù),采用滑模變結(jié)構(gòu)理論設(shè)計(jì)了四輪轉(zhuǎn)向滑�？刂破髦鲃涌刂撇孳嚽昂筝嗈D(zhuǎn)角,并在開環(huán)和閉環(huán)系統(tǒng)下進(jìn)行仿真分析。仿真結(jié)果表明基于滑�？刂频乃妮嗈D(zhuǎn)向叉車有效減小了質(zhì)心側(cè)偏角,同時(shí)橫擺角速度能夠很好的跟蹤期望值,并有效抑制了系統(tǒng)內(nèi)部參數(shù)攝動和外部干擾,提高了叉車的操縱穩(wěn)定性。
[Abstract]:With the rapid development of forklift industry and its wide application in logistics system, people pay more and more attention to the stability of forklift handling. Four-wheel steering is a kind of active control technology which can effectively improve the driving safety and control stability of vehicles. It can reduce the turning radius of vehicles and make their steering more flexible. The vehicle of assembly line control steering system transmits steering control information by electric signal, which not only saves energy and environmental protection, but also improves the flexibility of vehicle design, and makes it possible to track the expected state of vehicle steering. In this paper, the control strategy of four-wheel steering forklift truck is deeply studied by combining with the preview optimal curvature driver model and the four-wheel steering forklift truck as the research object. Firstly, the nonlinear tire model of forklift truck is introduced based on magic formula, and the nonlinear dynamic model of four-wheel steering forklift truck with three degrees of freedom is derived based on the vehicle standard coordinate system. At the same time, according to the characteristics of forklift truck, the closed-loop system model of driver model and double-shift road model is introduced, which provides a good simulation model platform for the later research and design of controller. Secondly, considering that the key state variables in forklift running in real time and accurately are the premise of the design of four-wheel steering control system, aiming at the characteristics that the side deflection angle of mass center is not easy to be measured, Based on the extended Kalman filter and the unscented Kalman filter theory, the nonlinear two-degree-of-freedom (2-DOF) centroid side deflection estimation models are established, respectively. The effectiveness of the unscented Kalman centroid side deflection estimation model in open loop and closed loop systems is verified by simulation. Finally, aiming at the influence of uncertain factors such as parameter perturbation and external disturbance of forklift system, based on wire steering technology and sliding mode variable structure theory, a four wheel steering sliding mode controller is designed to control forklift front and rear wheel rotation angle actively. And under the open-loop and closed-loop system simulation analysis. The simulation results show that the four-wheel steering forklift based on sliding mode control can effectively reduce the side deflection angle of mass center, at the same time, the yaw angular velocity can track the expected value well, and effectively restrain the internal parameter perturbation and external interference. The handling stability of forklift truck is improved.
【學(xué)位授予單位】：合肥工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TH242

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