The invention relates to a forklift anti-rollover control method based on a zero moment point variable threshold, and the method comprises the following steps: S1, building a whole forklift rollover kinetic model, and carrying out the optimization through a Kalman filtering algorithm, and obtaining the lateral acceleration, the roll angle and the second derivative of the forklift; s2, according to the load weight of the forklift, the combined center-of-mass coordinate of the whole forklift is determined; s3, according to the longitudinal position of the combined mass center, the maximum threshold value of the transverse component of the zero moment point when the forklift is in triangular supporting and the maximum threshold value of the transverse component of the zero moment point when the forklift is in trapezoidal supporting are determined; s4, calculating a transverse coordinate of a zero moment point through a formula; S5, respectively setting the forklift in three states of primary side inclination, intermediate side inclination and critical side inclination; and S6, designing an anti-rollover control strategy, and executing the strategy by using the controller. According to the method, Kalman filtering is used for optimizing the parameters of the whole forklift rollover kinetic model, the state of the forklift is accurately estimated, and different control methods are adopted for the two supporting oil cylinders in different stages.
本发明涉及一种基于零力矩点变阈值的叉车防侧翻控制方法,包括以下步骤,S1、建立叉车整车侧翻动力学模型,通过卡尔曼滤波算法优化并获得叉车的侧向加速度、侧倾角及其二阶导数;S2、根据叉车的载荷重量,确定叉车整车的联合质心坐标;S3、根据联合质心纵向位置确定叉车在三角支撑时零力矩点横向分量的最大阈值以及在梯形支撑时零力矩点横向分量的最大阈值;S4、通过公式计算零力矩点的横向坐标,S5、将叉车分别初级侧倾、中级侧倾和临界侧倾三个状态;S6、设计防侧翻控制策略,使用控制器执行该策略。本发明利用卡尔曼滤波将叉车整车侧翻动力学模型参数优化,准确估计叉车的车辆状态,针对不同阶段对两个支撑油缸采取不同控制方法。
Forklift rollover prevention control method based on zero moment point variable threshold
一种基于零力矩点变阈值的叉车防侧翻控制方法
2025-02-14
Patent
Electronic Resource
Chinese
IPC: | B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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