TY  - JOUR
PY  - 2021//
TI  - Anti-rollover control based on stable zone partition of counterbalanced forklift trucks
JO  - International journal of automotive technology
A1  - Xia, Guang
A1  - Xia, Yan
A1  - Tang, Xiwen
A1  - Zhao, Linfeng
A1  - Hu, Jinfang
SP  - 1529
EP  - 1543
VL  - 22
IS  - 6
N2  - 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>
LA  - en
SN  - 1229-9138
UR  - http://dx.doi.org/10.1007/s12239-021-0132-1
ID  - ref1
ER  -