Title: Research on variable universe fuzzy anti-rollover control of counterbalanced forklift based on a general rollover index

Authors: Guang Xia; Xianyang Liu; Xiwen Tang; Shilong Wu; Linfeng Zhao

Addresses: Key Laboratory for Automated Vehicle Safety Technology of Anhui Province, Hefei University of Technology, Hefei, 230009, China; School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei, 230009, China ' Key Laboratory for Automated Vehicle Safety Technology of Anhui Province, Hefei University of Technology, Hefei, 230009, China; School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei, 230009, China ' The Institute of Radar Confrontation, National University of Defense Technology, Hefei, 230031, China ' The Institute of Radar Confrontation, National University of Defense Technology, Hefei, 230031, China ' School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei, 230009, China

Abstract: During the movement of a counterbalanced forklift, the centre of gravity and angular momentum change greatly, causing the forklift to roll over. This paper introduces a new balance forklift rollover control strategy, which introduces the centre of gravity projection point (COG) and foot flip indication point (FRI) indicators of the robot's dynamic gait stability criteria. According to the positional relationship between the COG and FRI and the support area, the forklift in the rollover stable state is divided into: static stable state, dynamic stable state, and dynamic unstable state; considering the uncertainty of some parameters of the anti-rollover actuator, variable universe adaptive fuzzy control is used to design the locking cylinder and active steering controller. The results show that the variable universe fuzzy anti-rollover control of a counterbalanced forklift based on COG and FRI can effectively improve the rollover stability and active safety of the forklift.

Keywords: counterbalanced forklift; anti-rollover control; centre of gravity; foot rotation indicator; variable domain theory and fuzzy control; MATLAB/Simulink platform.

DOI: 10.1504/IJHVS.2024.142257

International Journal of Heavy Vehicle Systems, 2024 Vol.31 No.6, pp.798 - 828

Received: 01 Apr 2023
Accepted: 04 Jul 2023
Published online: 16 Oct 2024 *

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