@article{ref1,
title="Anti-rollover control based on stable zone partition of counterbalanced forklift trucks",
journal="International journal of automotive technology",
year="2021",
author="Xia, Guang and Xia, Yan and Tang, Xiwen and Zhao, Linfeng and Hu, Jinfang",
volume="22",
number="6",
pages="1529-1543",
abstract="To improve the anti-rollover capacity of a counterbalanced forklift, a two-stage rollover dynamic model is established on the basis of the forklift structure. Stable zones are divided according to the two-stage lateral load transfer rate: stable region, relatively stable region, dangerous zone and abnormal dangerous zone. An anti-rollover layered control strategy based on stable zone partition is proposed, and different anti-rollover control actuators are selected: dynamic balance weight, anti-rollover cylinder and steering cylinder. Anti-rollover controllers consist of the upper stable region identification controller, the middle-level controller based on model predictive control (MPC) and the lower layer executive controller. The upper stable region identification controller performs stable zone recognition based on the two-stage lateral load transfer rate. The middle-level MPC controller calculates the required control torque with the body's lateral angle and yaw rate as the control objectives. The lower layer executive controller controls the balance weight, anti-rollover cylinder and the steering cylinder according to the improved chain incremental allocation method to meet the target control torque. Simulation and real vehicle tests based on MATLAB/Simulink show that the anti-rollover control based on stable zone partition can greatly reduce the risk of forklift rollover and improve the forklift safety.<p /> <p>Language: en</p>",
language="en",
issn="1229-9138",
doi="10.1007/s12239-021-0132-1",
url="http://dx.doi.org/10.1007/s12239-021-0132-1"
}