摘要
文章采用工程易于实现的模糊控制方法,设计了内燃平衡重叉车横向稳定性模糊控制器,并进行了横摆角速度、车速和方向盘转角等信号采集和电磁阀驱动硬件系统电路设计,软件设计中移植了嵌入式操作系统μC/OS-II,采用多任务程序的设计方法。利用自主开发的控制器对某国产内燃平衡重叉车装车并进行实车试验。试验结果表明,设计的内燃平衡重叉车横向稳定性控制器可实现叉车车架与车桥之间的支撑面由三角形逐步转变为不等边梯形,有效地改善了叉车横向稳定性和安全性。
The lateral stability fuzzy controller of the internal combustion counterbalanced forklift truck is designed by using the fuzzy control that is implemented easily in projects .The hardware circuit for the signal acquisition of yaw velocity ,vehicle speed and steering w heel angle and the drive circuit of solenoid valve are designed .In the design of software ,the μC/OS-II-imbedded real-time operating system is introduced and the multitask program design method is adopted .The road test is carried out on a real domestic internal combustion counterbalanced forklift truck with the self-developed control-ler .The experimental results show that the self-developed lateral stability fuzzy controller of the in-ternal combustion counterbalanced forklift truck can make the support surface between the truck frame and the axle become an inequilateral trapezoid from the triangle progressively ,thus improving the lateral stability and safety of the forklift truck effectively .
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2014年第4期385-389,共5页
Journal of Hefei University of Technology：Natural Science
基金
国家自然科学青年基金资助项目(51205101)
安徽省十二五科技攻关计划资助项目(12010202032)
