The invention discloses an unmanned forklift path tracking control method based on tire cornering stiffness, which comprises the following steps: step 1, predicting the stiffness of an inner cornering state in a T period to obtain a tire lateral force in a prediction time domain, T being a path tracking calculation period and T > = 1; step 2, acquiring the transient cornering stiffness of the tire; 3, the sideslip stable state of the forklift is obtained through the tire transient cornering stiffness; 4, forklift control parameters are calculated according to the sideslip stable state of the forklift; and step 5, controlling the forklift according to the forklift control parameters in the step 4, executing the step 1 after the control is completed, and entering a next control period T + 1. According to the method, the tire force is linearized on the basis of the tire lateral deviation state rigidity, the ideal tire lateral force is obtained through prediction, a rapid and accurate solution premise is provided for a controller, and the control accuracy is improved. And the sideslip control effect is always in a stable state, so that the sideslip stability of the unmanned forklift and the real-time performance of path tracking control are improved.

    本发明公开了一种基于轮胎侧偏刚度的无人叉车路径跟踪控制方法,包括以下步骤:步骤1、预测T周期内侧偏状态刚度,得到预测时域内轮胎侧向力,其中:T为路径跟踪计算周期,且T≥1;步骤2、获取轮胎瞬态侧偏刚度;步骤3、通过轮胎瞬态侧偏刚度获取叉车的侧滑稳定状态;步骤4、根据叉车的侧滑稳定状态计算出叉车控制参数;步骤5、通过步骤4中的叉车控制参数对叉车进行控制,控制完成后执行步骤1并进入下一控制周期T+1,本发明基于轮胎侧偏状态刚度对轮胎力进行线性化,通过其预测得到理想轮胎侧向力,为控制器提供了快速、精确的求解前提,并保证侧滑控制效果始终处于稳定状态,提高了无人叉车侧滑稳定性以及路径跟踪控制的实时性。


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    Title :

    Unmanned forklift path tracking control method based on tire cornering stiffness


    Additional title:

    一种基于轮胎侧偏刚度的无人叉车路径跟踪控制方法


    Contributors:
    BAI YINGCHUN (author) / ZHANG DONGLIN (author) / CHENG QING (author) / ZHENG XIAODONG (author) / CHEN YANG (author) / XIA GUANG (author)

    Publication date :

    2024-06-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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