合肥工业大学学报(自然科学版)
閤肥工業大學學報(自然科學版)
합비공업대학학보(자연과학판)
JOURNAL OF HEFEI UNIVERSITY OF TECHNOLOGY(NATURAL SCIENCE)
2014年
4期
385-389
,共5页
夏光%唐希雯%汪韶杰%彭建刚
夏光%唐希雯%汪韶傑%彭建剛
하광%당희문%왕소걸%팽건강
横向稳定性%模糊控制%嵌入式操作系统%道路试验
橫嚮穩定性%模糊控製%嵌入式操作繫統%道路試驗
횡향은정성%모호공제%감입식조작계통%도로시험
lateral stability%fuzzy control%imbedded operating system%road test
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。
文章採用工程易于實現的模糊控製方法,設計瞭內燃平衡重扠車橫嚮穩定性模糊控製器,併進行瞭橫襬角速度、車速和方嚮盤轉角等信號採集和電磁閥驅動硬件繫統電路設計,軟件設計中移植瞭嵌入式操作繫統μC/OS-II ,採用多任務程序的設計方法。利用自主開髮的控製器對某國產內燃平衡重扠車裝車併進行實車試驗。試驗結果錶明,設計的內燃平衡重扠車橫嚮穩定性控製器可實現扠車車架與車橋之間的支撐麵由三角形逐步轉變為不等邊梯形,有效地改善瞭扠車橫嚮穩定性和安全性。
문장채용공정역우실현적모호공제방법,설계료내연평형중차차횡향은정성모호공제기,병진행료횡파각속도、차속화방향반전각등신호채집화전자벌구동경건계통전로설계,연건설계중이식료감입식조작계통μC/OS-II ,채용다임무정서적설계방법。이용자주개발적공제기대모국산내연평형중차차장차병진행실차시험。시험결과표명,설계적내연평형중차차횡향은정성공제기가실현차차차가여차교지간적지탱면유삼각형축보전변위불등변제형,유효지개선료차차횡향은정성화안전성。
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 .