CN107571706A - A kind of fork truck anti-rollover control method - Google Patents
A kind of fork truck anti-rollover control method Download PDFInfo
- Publication number
- CN107571706A CN107571706A CN201710865908.2A CN201710865908A CN107571706A CN 107571706 A CN107571706 A CN 107571706A CN 201710865908 A CN201710865908 A CN 201710865908A CN 107571706 A CN107571706 A CN 107571706A
- Authority
- CN
- China
- Prior art keywords
- fork truck
- msub
- level
- mrow
- rollover
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Forklifts And Lifting Vehicles (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of fork truck anti-rollover control method, carries out fork truck posture classification by calculating the transverse load rate of transform of fork truck, and according to security height, when fork truck is in stable state, carries out free control；When fork truck is in one-level roll-over state, one-level anti-rollover control is carried out；When fork truck is in two level roll-over state, two level anti-rollover control is carried out, to improve the anti-rollover ability of fork truck.The present invention can carry out stability contorting to fork truck, fork truck is being carried and can be being prevented fork truck from turning on one's side in job engineering, so as to lift fork truck lateral stability and active safety.
Description
Technical field
The present invention relates to a kind of truck stability control method field, specifically a kind of fork truck prevents controlling party of turning on one's side
Method.
Background technology
Internal combustion counterbalance forklift truck is the fork truck type being most widely used, with the fast development of market economy, fork truck
Application field is more and more extensive, is also become increasingly complex using working environment, and more and more higher is it is also proposed to the security of fork truck
Requirement.The characteristics of because of internal combustion counterbalance forklift truck structure, its lateral stability is poor；Because fork truck is material carrying machine,
Operation or operation when its position of centre of gravity can with transport goods and operating mode difference and change, if misoperation, Yi Fa
Rollover event occurs for raw Cross deformation.
The anterior equipment for being furnished with handling goods of fork truck, front-wheel is driving wheel, and trailing wheel is deflecting roller, is turned using double trapezoid
To mechanism.There is a pin joint to be connected with vehicle frame in the middle part of steeraxle, vehicle frame can carry out the upper bottom by pin joint with respect to steeraxle
It is dynamic.Due to be hinged, fork truck supporting plane is that 2 front wheel supporting points and the pin joint of back axle and vehicle frame form, and fork truck traveling plane is
2 front wheel supporting points and two Rear wheel supports point line midpoint are formed, and folder is produced because supporting plane is misaligned with traveling plane
Angle, commonly referred to as supporting plane inclination angle.This hinge connection mode of fork truck, although improve forklift workability flexibility and
By the stationarity of car body during concave, convex road surface, but due to supporting plane inclination angle be present, cause vehicle frame to swing, support fork truck
Plane and traveling plane are misaligned, and Cross deformation is easily occurred during turning by centrifugal forces affect or even is turned on one's side, causes operating personnel
With the potential safety hazard of goods.
The content of the invention
The present invention is to avoid the weak point present in above-mentioned prior art, proposes a kind of fork truck anti-rollover control method,
To which stability contorting can be carried out to fork truck, fork truck is set to carry and can prevent fork truck from turning on one's side in job engineering, so as to lift fork truck
Lateral stability and active safety.
The present invention to achieve the above object of the invention, adopts the following technical scheme that：
A kind of the characteristics of fork truck anti-rollover control method of the invention is to carry out as follows：
Step 1, the fork truck angle of heel gathered by gyro sensor, roll angle acceleration, yaw velocity, longitudinal direction add
Speed and systemic velocity, and calculate rate of change of the systemic velocity in the component and component of X-axis and Y-axis；
Step 2, the transverse load rate of transform I according to formula (1) calculating fork truckLTR：
In formula (1), IxThe product of inertia for vehicle around XZ axles；KαFor tire cornering stiffness；M is complete vehicle quality；m1For vehicle frame matter
Amount；ayFor longitudinal acceleration；ω is the yaw velocity of fork truck about the z axis；vx、vyRespectively fork truck systemic velocity is in X-axis, Y-axis
Component；φ is vehicle frame angle of heel；φ " is vehicle frame roll angle acceleration；h1For height of center of mass；B1For front tread；B2For trailing wheel
Wheelspan；L is front and rear wheel base；A, b is respectively horizontal range of the barycenter to propons, back axle；hxFor steeraxle hinge height；
Step 3, the one-level rollover threshold I for determining the transverse load rate of transformLTR1With two level rollover threshold ILTR2；
Step 4, fork truck posture is divided into stable state, one-level roll-over state and two level roll-over state；
Step 5, when fork truck is in stable state, by carrying out free control to hydraulic support oil cylinder off-load；
When fork truck is in one-level roll-over state, adjusted according to the size of the transverse load rate of transform between vehicle body and vehicle bridge
The pressure of hydraulic support oil cylinder carries out one-level anti-rollover control, carries out one-level anti-rollover control, and posture is rolled to improve fork truck；
When fork truck is in two level roll-over state, the hydraulic support oil cylinder between locking vehicle body and vehicle bridge carries out the anti-side of two level
Control is turned over, to improve the anti-rollover ability of fork truck.
The characteristics of fork truck anti-rollover control method of the present invention, lies also in：
The one-level rollover threshold ILTR1For：When forklift frame and vehicle bridge dumpling connect fork truck horizontal stroke when angle is design maximum angle
To load transfer rate；
The two level rollover threshold ILTR2For：Fork when the quality of fork truck inboard wheel is transferred completely into outboard wheels
The car transverse load rate of transform, i.e.,：ILTR2=1.
The stable state, one-level anti-rollover and two level anti-rollover are divided in accordance with the following methods：
When the transverse load rate of transform is less than or equal to one-level threshold value ILTR1When, represent that fork truck is in stable state；
When the transverse load rate of transform is more than one-level threshold value ILTR1And it is less than secondary threshold ILTR2When, represent that fork truck is in one-level
Anti-rollover state；
When the transverse load rate of transform is more than or equal to secondary threshold ILTR2When, represent that fork truck is in two level anti-rollover state.
Compared with the prior art, the present invention has the beneficial effect that：
1st, the present invention is by calculating the transverse load rate of transform of fork truck, and carries out fork truck posture point according to security height
Level, when fork truck is in stable state, carries out free control；When fork truck is in one-level roll-over state, one-level anti-rollover is carried out
Control；When fork truck is in two level roll-over state, two level anti-rollover control is carried out, to improve the anti-rollover ability of fork truck, is passed through
To fork truck Safety classification and grading control, improve body gesture, prevent fork truck from turning on one's side, improve the lateral stability of fork truck
And active safety.
2nd, the present invention enters the judgement of fork posture by calculating the transverse load rate of transform of fork truck, is taken turns with passing through to observe at present
The fork truck posture judgment mode whether tire is liftoff is compared, and has higher precision, can accurately and timely judge the posture of fork truck, for fork
The anti-rollover control of car provides control foundation.
3rd, the computational methods of the fork truck transverse load rate of transform of the invention are by establishing rationally effective fork truck kinetic simulation
Type is derived by, and the variable parameter in the calculation formula of the fork truck transverse load rate of transform can be by installing additional in current product extensively
The gyro sensor of application obtains, workable.
4th, the present invention takes different anti-rollover control methods according to the different state of fork truck, and intelligence degree is high, works as fork
When car is in stable state, free control is carried out, can effectively play the work(of following an example of forklift frame and vehicle frame dumpling binding structure road pavement
Energy, improve the ride quality of fork truck；When fork truck is in one-level roll-over state, one-level anti-rollover control is carried out, to greatest extent
Body gesture is adjusted, fork truck posture is converted to stable state；When fork truck is in two level roll-over state, two level anti-rollover is carried out
Control, there is provided maximum lateral support, prevent fork truck from turning on one's side.
Brief description of the drawings
Fig. 1 is the fork truck transverse load rate of transform computation model schematic diagram of the present invention.
Embodiment
In the present embodiment, a kind of fork truck anti-rollover control method is to carry out as follows：
Step 1, the centroid position by gyroscope installed in fork truck, the fork truck angle of heel gathered by gyro sensor,
Roll angle acceleration, yaw velocity, longitudinal acceleration and systemic velocity, and calculate systemic velocity in the component of X-axis and Y-axis and
The rate of change of component；
Step 2, refering to Fig. 1, be that Y direction establishes coordinate perpendicular to ground using the hinge line of car body and back axle as X-axis
System, it is two Rigid Mass blocks by car body and back axle equivalent substitution, because hinge constrains, Full Vehicle System shares 11 frees degree,
Respectively displacement of the vehicle barycenter along X, Y, Z axis direction, rotation and steering of the vehicle around Y, the rotation of Z axis and car body around X-axis
Bridge is around the rotation of X-axis, the vertical deformation of four wheels.
In modeling process, by the vertical elastic linearization process of tire, tire vertical stiffness is Kt；Do not consider that tire is indulged
Influence to power；Because back axle quality is smaller relative to car body mass, do not consider that back axle rotates the influence to vehicle body.
The equation of motion of model is as follows：
Transverse movement equilibrium equation：
may-m1φ″(h1-hx)=Fy11+Fy12+Fy21cosδ1+Fy22cosδ2 (1)
Weaving equilibrium equation：
Roll motion equilibrium equation：
In formula (1)~formula (3), m is complete vehicle quality；m1For vehicle frame quality；ayFor longitudinal acceleration；φ " is vehicle frame angle of heel
Acceleration；h1For height of center of mass；B1For front tread；B2For rear track；L is front and rear wheel base；A, b is respectively barycenter to preceding
The horizontal range of bridge, back axle；hxFor steeraxle hinge height；IxThe product of inertia for vehicle around XZ axles；IzIt is that vehicle is used to around XY axles
Property product；KαFor tire cornering stiffness；Fy11、Fy12Respectively front-wheel left and right wheels tire cornering power；Fy21、Fy22Respectively trailing wheel or so
Take turns lateral deviation power；Fz11、Fz12Respectively front-wheel or so tire ground holding power；δ1、δ2Respectively trailing wheel left and right wheels corner.
ax=v 'x-ωvy (4)
ay=v 'y+ωvx (5)
Fy1j=Kαα1j (8)
In formula (4)~formula (8), α1jFor front axle wheel slip angle of tire, α2jFor rear axle wheel slip angle of tire, δjFor rear rotation
Angle, j=1 represent revolver, and j=2 represents right wheel；
The transverse load rate of transform is the difference of left and right wheel load and the ratio of two wheel load sums：
ILTRFor 0 when, propons or so load is equal, and fork truck is in a safe condition；ILTRFor 1 when, side tire liftoff, fork truck
Turn on one's side；Then the transverse load rate of transform can be as the rollover early warning factor of fork truck, the basis for estimation as fork truck rollover.
But because the vertical load of forklift front wheel changes at any time, direct measurement is not easy, it is difficult to directly be calculated according to definition, root
According to formula (1)~(8) equation obtain can online observation fork truck transverse load rate of transform calculation formula：
Understood by formula (9), it is necessary to which the semaphore gathered is car body roll angle accelerationSystemic velocity is in X-axis and Y-axis
The rate of change of component and component, these parameters can be measured by gyroscope.
Step 3, the one-level rollover threshold I for determining the transverse load rate of transformLTR1With two level rollover threshold ILTR1, ILTR1With
ILTR1Carry out in accordance with the following methods：
Two propons driving moments of counterbalanced lift truck are rigidly connected with vehicle frame, and rear steering bridge is articulated and connected with vehicle frame,
Vehicle frame can be swung up and down around the pin joint of rear steering bridge and vehicle frame, and dumpling connects angle typically at 2 °~3 °.
Fork truck because body gesture shifts, is caused because gravity is to nosewheel contact center and dumpling contact in the process of moving
The moment resulting from sidesway that the stabilizing moment and centrifugal force that the roll axis of line is formed are formed to roll axis changes, when fork truck car
It is one-level rollover threshold I that frame connects fork truck transverse load rate of transform when angle is design maximum angle with vehicle bridge dumplingLTR1；
As the fork truck transverse load rate of transform continues to increase, when the fork truck transverse load rate of transform is more than one-level rollover threshold
ILTR1When, the one front wheel of fork truck will be liftoff, if taking measures that homonymy trailing wheel will be caused liftoff not in time, the inclination of fork truck
Axis becomes the roll axis from nosewheel contact center and dumpling contact line by the inclination of the wheel of the homonymy two ground connection line of centres
Axis, the fork truck transverse load rate of transform when the quality of fork truck inboard wheel is transferred completely into outboard wheels are turned on one's side for two level
Threshold value ILTR2, i.e.,：ILTR2=1.
Step 4, fork truck posture is divided into stable state, one-level roll-over state and two level roll-over state, according to lower section
Method is divided：
When the transverse load rate of transform is less than or equal to one-level threshold value ILTR1When, represent that fork truck is in stable state；
When the transverse load rate of transform is more than one-level threshold value ILTR1And it is less than secondary threshold ILTR2When, represent that fork truck is in one-level
Anti-rollover state；
When the transverse load rate of transform is more than or equal to secondary threshold ILTR2When, represent that fork truck is in two level anti-rollover state.
Step 5, when fork truck is in stable state, it is necessary to keep the function of following an example of fork truck, fork truck is passed through uneven road surface
When, the free dumpling between vehicle frame and vehicle bridge is switched through the dynamic safety for keeping fork truck goods, by hydraulic support oil cylinder off-load, making
Free dumpling switches through dynamic between the vehicle frame and vehicle bridge of fork truck, carries out free adjustment control to the posture of fork truck, reduces fork truck and travelling
When sense of jolting；
When fork truck is in one-level roll-over state, fork truck has the danger of rollover, in order to prevent the lateral stability of fork truck from entering
One step deteriorates, and pro-active intervention is carried out to it, and the hydraulic pressure branch between vehicle body and vehicle bridge is adjusted according to the size of the transverse load rate of transform
The pressure for supportting oil cylinder carries out one-level anti-rollover control, changes the anti-roll force of fork truck by adjusting the pressure of hydraulic support oil cylinder
Square, one-level anti-rollover control is carried out, roll posture to improve fork truck, the big minor adjustment of hydraulic support oil cylinder pressure can be by fuzzy
Control method determines, specific as follows：
According to gyro sensor gather fork truck angle of heel, roll angle acceleration, yaw velocity, longitudinal acceleration and
Systemic velocity, and rate of change of the systemic velocity in the component and component of X-axis and Y-axis is calculated, the horizontal stroke of gained will be calculated according to formula (9)
To load transfer rate, as the input quantity of fuzzy control, using hydraulic support oil cylinder pressure as output quantity；When fork truck is in one-level
During roll-over state, the transverse load rate of transform scope I of fork truckLTR1~1, domain is (1,1/ILTR1), quantizing factor KLTR=1/
ILTR1, fuzzy language all for small (S), and in (M), big (B) }, hydraulic support oil cylinder pressure F excursion is 0~FmaxN, opinion
Domain is [0,1], quantizing factor KF=1/Fmax, fuzzy language for very little (VS), small (S), in (M), big (B), very big (VB) }.
Input and the membership function of output quantity select Triangleshape grade of membership function, and formulate fuzzy rule, are entered according to fuzzy rule
The size adjustment control of row hydraulic support oil cylinder pressure.
When fork truck is in two level roll-over state, fork truck be in turn on one's side it is critical, it is necessary to liquid between locking vehicle body and vehicle bridge
Pressure support cylinder carries out two level anti-rollover control, to improve the anti-rollover ability of fork truck to provide the support force of maximum.
Embodiment：The fork truck anti-rollover control method of the present invention is applied on 2.5 tons of counterbalanced lift trucks of certain type, this is flat
The parameter of load retaining wall fork truck is as follows：
Product of inertia I of the vehicle around XZ axlesx=18313kg.m2；Tire cornering stiffness Kα=135kN.m-1；Complete vehicle quality m=
4639kg；Vehicle frame quality m1=1160kg；Height of center of mass h1=702mm；Front tread B1=1000mm；Rear track B2=
970mm；Front and rear wheel base L=1700mm；Barycenter to propons horizontal range a=212mm；Barycenter to back axle horizontal range b
=1488mm；Steeraxle hinge height hx=275mm；
Gyroscope is arranged on to the centroid position of fork truck, by the fork truck angle of heel φ of gyro sensor collection, rolled
Angular acceleration φ ", yaw velocity ω, longitudinal acceleration ayAnd systemic velocity, and calculate point of the systemic velocity in X-axis and Y-axis
Measure vx、vyWith the rate of change v ' of componentx、v′y, according to the transverse load rate of transform I of formula (9) calculating fork truckLTR=0.84, determine institute
State the one-level rollover threshold I of the transverse load rate of transformLTR1=0.35, two level rollover threshold ILTR2=1；
According to horizontal calculating to load transfer rate ILTR=0.84 is more than one-level threshold value ILTR1=0.35 and it is less than secondary threshold
ILTR2=1, then fork truck be in one-level anti-rollover state；
When fork truck is in one-level roll-over state, in order to prevent the lateral stability of fork truck from further deteriorating, it is carried out
Pro-active intervention, the pressure that the hydraulic support oil cylinder between vehicle body and vehicle bridge is adjusted according to the size of the transverse load rate of transform carry out one
Level anti-rollover control, changes the anti-moment resulting from sidesway of fork truck by adjusting the pressure of hydraulic support oil cylinder, carries out one-level anti-rollover
Control, posture is rolled to improve fork truck, the big minor adjustment of hydraulic support oil cylinder pressure can be determined by fuzzy control method, be had
Body is as follows：
Select transverse load rate of transform ILTRAs the input quantity of fuzzy control, using hydraulic support oil cylinder pressure as output
Amount；When fork truck is in one-level roll-over state, the transverse load rate of transform scope 0.35~1 of fork truck, domain is (1,1/0.35),
Quantizing factor KLTR=1/0.35, fuzzy language all for small (S), and in (M), big (B) }, hydraulic support oil cylinder pressure F change model
Enclose for 0~10000N, domain is [0,1], quantizing factor KF=1/10000, fuzzy language for very little (VS), small (S), in
(M) it is, big (B), very big (VB) }, according to the fuzzy rule of formulation, output control hydraulic support oil cylinder pressure, improve fork truck and roll
Posture, it is allowed to convert to stable state, improves the active safety of fork truck.
In summary, using the fork truck anti-rollover control method of the present invention, it can effectively identify that truck stability state is gone forward side by side
Row stability contorting, prevent fork truck from carrying and fork truck rollover in job engineering, lifting fork truck lateral stability and active safety.
Claims (3)
- A kind of 1. fork truck anti-rollover control method, it is characterized in that carrying out as follows：Step 1, the fork truck angle of heel gathered by gyro sensor, roll angle acceleration, yaw velocity, longitudinal acceleration And systemic velocity, and calculate rate of change of the systemic velocity in the component and component of X-axis and Y-axis；Step 2, the transverse load rate of transform I according to formula (1) calculating fork truckLTR：<mrow> <msub> <mi>I</mi> <mrow> <mi>L</mi> <mi>T</mi> <mi>R</mi> </mrow> </msub> <mo>=</mo> <mfrac> <mrow> <mn>2</mn> <mo>{</mo> <msub> <mi>I</mi> <mi>x</mi> </msub> <msup> <mi>&phi;</mi> <mrow> <mo>&prime;</mo> <mo>&prime;</mo> </mrow> </msup> <mo>-</mo> <msub> <mi>m</mi> <mn>1</mn> </msub> <mi>g</mi> <mrow> <mo>(</mo> <msub> <mi>h</mi> <mn>1</mn> </msub> <mo>-</mo> <msub> <mi>h</mi> <mi>x</mi> </msub> <mo>)</mo> </mrow> <mrow> <mo>(</mo> <msubsup> <mi>v</mi> <mi>y</mi> <mo>&prime;</mo> </msubsup> <mo>+</mo> <msub> <mi>&omega;v</mi> <mi>x</mi> </msub> <mo>-</mo> <mi>&phi;</mi> <mi>g</mi> <mo>)</mo> </mrow> <mo>-</mo> <mn>2</mn> <msub> <mi>K</mi> <mi>&alpha;</mi> </msub> <msub> <mi>h</mi> <mi>x</mi> </msub> <mrow> <mo>(</mo> <mfrac> <mrow> <msub> <mi>v</mi> <mi>y</mi> </msub> <mo>+</mo> <msub> <mi>a</mi> <mi>y</mi> </msub> <mi>&omega;</mi> </mrow> <msub> <mi>v</mi> <mi>x</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>}</mo> </mrow> <mrow> <msub> <mi>mgB</mi> <mn>1</mn> </msub> <mi>b</mi> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>In formula (1), IxThe product of inertia for vehicle around XZ axles；KαFor tire cornering stiffness；M is complete vehicle quality；m1For vehicle frame quality；ay For longitudinal acceleration；ω is the yaw velocity of fork truck about the z axis；vx、vyRespectively point of the fork truck systemic velocity in X-axis, Y-axis Amount；φ is vehicle frame angle of heel；φ " is vehicle frame roll angle acceleration；h1For height of center of mass；B1For front tread；B2For rear wheel rotation Away from；L is front and rear wheel base；A, b is respectively horizontal range of the barycenter to propons, back axle；hxFor steeraxle hinge height；Step 3, the one-level rollover threshold I for determining the transverse load rate of transformLTR1With two level rollover threshold ILTR2；Step 4, fork truck posture is divided into stable state, one-level roll-over state and two level roll-over state；Step 5, when fork truck is in stable state, by carrying out free control to hydraulic support oil cylinder off-load；When fork truck is in one-level roll-over state, the hydraulic pressure between vehicle body and vehicle bridge is adjusted according to the size of the transverse load rate of transform The pressure of support cylinder carries out one-level anti-rollover control, carries out one-level anti-rollover control, and posture is rolled to improve fork truck；When fork truck is in two level roll-over state, the hydraulic support oil cylinder between locking vehicle body and vehicle bridge carries out two level anti-rollover control System, to improve the anti-rollover ability of fork truck.
- 2. fork truck anti-rollover control method according to claim 1, it is characterised in that：The one-level rollover threshold ILTR1For：When the fork truck that forklift frame and vehicle bridge dumpling are connect when angle is design maximum angle laterally carries The lotus rate of transform；The two level rollover threshold ILTR2For：Fork truck when the quality of fork truck inboard wheel is transferred completely into outboard wheels is horizontal To load transfer rate, i.e.,：ILTR2=1.
- 3. fork truck anti-rollover control method according to claim 1, it is characterised in that：The stable state, one-level anti-rollover Divided in accordance with the following methods with two level anti-rollover：When the transverse load rate of transform is less than or equal to one-level threshold value ILTR1When, represent that fork truck is in stable state；When the transverse load rate of transform is more than one-level threshold value ILTR1And it is less than secondary threshold ILTR2When, represent that fork truck is in the anti-side of one-level Turn over state；When the transverse load rate of transform is more than or equal to secondary threshold ILTR2When, represent that fork truck is in two level anti-rollover state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865908.2A CN107571706B (en) | 2017-09-22 | 2017-09-22 | A kind of fork truck anti-rollover control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865908.2A CN107571706B (en) | 2017-09-22 | 2017-09-22 | A kind of fork truck anti-rollover control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107571706A true CN107571706A (en) | 2018-01-12 |
| CN107571706B CN107571706B (en) | 2019-05-31 |
Family
ID=61038685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710865908.2A Active CN107571706B (en) | 2017-09-22 | 2017-09-22 | A kind of fork truck anti-rollover control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107571706B (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680364A (en) * | 2018-03-29 | 2018-10-19 | 南京航空航天大学 | A kind of vehicle side turning evaluation index and evaluation method |
| CN108995709A (en) * | 2018-08-06 | 2018-12-14 | 合肥工业大学 | It is a kind of for improving the control method of counterbalanced lift truck cornering stiffnesses |
| CN109733382A (en) * | 2018-12-19 | 2019-05-10 | 南京航空航天大学 | A kind of car for guarding against side turned over method based on Model Predictive Control |
| CN109878579A (en) * | 2019-01-24 | 2019-06-14 | 厦门大学 | A kind of articulated vehicle active safety control system based on control-moment gyro |
| CN110562357A (en) * | 2019-09-10 | 2019-12-13 | 江苏科技大学 | Design optimization method for double-steering mechanism of gardening tractor |
| CN112373461A (en) * | 2020-11-24 | 2021-02-19 | 合肥工业大学 | Anti-rollover control method and control system of balanced heavy forklift |
| CN112811356A (en) * | 2021-02-04 | 2021-05-18 | 合肥工业大学 | Control method for preventing side turning of balance weight type forklift |
| CN113072012A (en) * | 2021-04-25 | 2021-07-06 | 合肥工业大学 | Anti-rollover control method for counterweight type forklift |
| CN114890345A (en) * | 2022-04-26 | 2022-08-12 | 安徽合力股份有限公司 | Forklift stability control method and control system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202671130U (en) * | 2012-06-12 | 2013-01-16 | 山东省特种设备检验研究院济宁分院 | Anti-overload and anti-rollover forklift with alarm function |
| CN204674465U (en) * | 2015-05-08 | 2015-09-30 | 温州华路交通建设工程有限公司 | A kind of construction machinery and equipment anti-rollover system |
| KR20160063640A (en) * | 2014-11-27 | 2016-06-07 | 주식회사 두산 | Control Method for Forklift |
| CN105848992A (en) * | 2013-08-28 | 2016-08-10 | 帕斯夸尔·维拉 | Anti-rollover device for vehicles |
-
2017
- 2017-09-22 CN CN201710865908.2A patent/CN107571706B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202671130U (en) * | 2012-06-12 | 2013-01-16 | 山东省特种设备检验研究院济宁分院 | Anti-overload and anti-rollover forklift with alarm function |
| CN105848992A (en) * | 2013-08-28 | 2016-08-10 | 帕斯夸尔·维拉 | Anti-rollover device for vehicles |
| KR20160063640A (en) * | 2014-11-27 | 2016-06-07 | 주식회사 두산 | Control Method for Forklift |
| CN204674465U (en) * | 2015-05-08 | 2015-09-30 | 温州华路交通建设工程有限公司 | A kind of construction machinery and equipment anti-rollover system |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108680364A (en) * | 2018-03-29 | 2018-10-19 | 南京航空航天大学 | A kind of vehicle side turning evaluation index and evaluation method |
| CN108995709A (en) * | 2018-08-06 | 2018-12-14 | 合肥工业大学 | It is a kind of for improving the control method of counterbalanced lift truck cornering stiffnesses |
| CN109733382A (en) * | 2018-12-19 | 2019-05-10 | 南京航空航天大学 | A kind of car for guarding against side turned over method based on Model Predictive Control |
| CN109733382B (en) * | 2018-12-19 | 2020-07-07 | 南京航空航天大学 | Automobile rollover prevention method based on model predictive control |
| CN109878579A (en) * | 2019-01-24 | 2019-06-14 | 厦门大学 | A kind of articulated vehicle active safety control system based on control-moment gyro |
| CN110562357A (en) * | 2019-09-10 | 2019-12-13 | 江苏科技大学 | Design optimization method for double-steering mechanism of gardening tractor |
| CN112373461A (en) * | 2020-11-24 | 2021-02-19 | 合肥工业大学 | Anti-rollover control method and control system of balanced heavy forklift |
| CN112811356A (en) * | 2021-02-04 | 2021-05-18 | 合肥工业大学 | Control method for preventing side turning of balance weight type forklift |
| CN113072012A (en) * | 2021-04-25 | 2021-07-06 | 合肥工业大学 | Anti-rollover control method for counterweight type forklift |
| CN113072012B (en) * | 2021-04-25 | 2022-06-07 | 合肥工业大学 | Anti-rollover control method for counterweight type forklift |
| CN114890345A (en) * | 2022-04-26 | 2022-08-12 | 安徽合力股份有限公司 | Forklift stability control method and control system |
| CN114890345B (en) * | 2022-04-26 | 2024-05-28 | 安徽合力股份有限公司 | Forklift stability control method and control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107571706B (en) | 2019-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107571706B (en) | A kind of fork truck anti-rollover control method | |
| CN103057586B (en) | trailer steering control method, controller, trailer steering system and trailer | |
| CN107176216A (en) | Heavy-duty car anti-rollover system | |
| CN104077459B (en) | A kind of automobile chassis handling stability energy analysis model method for building up based on suspension KC characteristics | |
| CN108407800B (en) | Loading machine anti-rollover control system and control method | |
| Kang et al. | Cargo load shift and its influence on tank vehicle dynamics under braking and turning | |
| CN107416021A (en) | Four-wheel steering control method, device and the vehicle of vehicle | |
| CN108909705A (en) | A kind of control method for vehicle and device | |
| CN103419777A (en) | Design method for improving lane tracking and control stability | |
| US20130211679A1 (en) | Method for determining the probability of a handling truck's tipping over | |
| CN108241773A (en) | A kind of improved vehicle running state method of estimation | |
| CN103863390A (en) | Balance controlling system for four-wheel counter-balanced forklift truck | |
| CN108556850B (en) | A kind of multi-axle heavy type wheel of vehicle vertical load general calculation method | |
| CN109866570A (en) | A kind of integrated safety control system and control method for counterbalanced lift truck | |
| CN111559217A (en) | Control method for improving steering stability of counter-weight forklift | |
| CN108995709A (en) | It is a kind of for improving the control method of counterbalanced lift truck cornering stiffnesses | |
| CN108426673B (en) | Emergency rescue vehicle mass center position measuring and adjusting method | |
| CN104573322A (en) | Dynamic measuring device for position of automobile heeling center axis and confirming method thereof | |
| CN206826783U (en) | Heavy-duty car anti-rollover system | |
| CN110562243B (en) | Automobile rollover prevention method and device and rollover prevention automobile | |
| Rehnberg et al. | Snaking stability of articulated frame steer vehicles with axle suspension | |
| Van Nguyen et al. | Measurement of static lateral stability angle and roll moment of inertia for agricultural tractors with attached implements | |
| CN107767490A (en) | A kind of method judged for fork truck rollover instability status | |
| CN114890345A (en) | Forklift stability control method and control system | |
| CN113449378A (en) | Transverse load transfer rate calculation method based on vehicle suspension deformation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |