Forklift steering control method

Abstract

The invention discloses a forklift steering control method. The forklift steering control method comprises the steps that 1, according to a sampling period, a vehicle frame dip angle phi, a vehicle speed V, an arm frame variation amplitude angle gamma, the arm frame variation amplitude pressure p, a front wheel rotating angle alpha1, and a rear wheel rotating angle alpha2 are measured through a sensor; 2, the parameters obtained in the step 1 are normalized in turn, and an input layer vector quantity x={x1, x2, x3, x4, x5, x6} of a three-layer BP neural network is determined, wherein x1 is a vehicle frame dip angle coefficient, x2 is a vehicle speed coefficient, x3 is an arm frame variation amplitude angle coefficient, x4 is an arm frame variation amplitude pressure coefficient, x5 is a front wheel rotating angle coefficient, and x6 is a rear wheel rotating angle coefficient; 3, the input layer vector quantity is mapped to an intermediate layer, an intermediate layer vector quantity meets the relation of y={y1, y2, ..., ym}, and m is the number of joints in the intermediate layer; 4, an output layer vector quantity o={o1, o2, o3, o4} is obtained, o1 is an engine rotating speed adjustment coefficient, o2 is a steering valve rotating angle adjustment coefficient, o3 is an arm frame length adjustment coefficient, and o4 is an emergency stop signal; and 5, the engine rotating speed, steering valve rotating angle, and arm frame length are controlled.

Description

technical field [0001] The invention relates to the field of forklift control, in particular to a steering control method of a forklift. Background technique [0002] Forklift is an industrial handling vehicle, which refers to various wheeled handling vehicles for loading and unloading, stacking and short-distance transportation of palletized goods. The International Organization for Standardization ISO / TC110 is called an industrial vehicle. It is often used for the transportation of large objects in storage, and is usually driven by a fuel engine or a battery. [0003] The technical parameters of the forklift are used to indicate the structural characteristics and working performance of the forklift. The main technical parameters are: rated lifting capacity, load center distance, maximum lifting height, gantry inclination, maximum driving speed, minimum turning radius, minimum ground clearance, wheel base, wheel base, etc. [0004] The steering system of a forklift is an...

AI Technical Summary

Problems solved by technology

[0005] If the operation and mode switching of the forklift steering system are unreasonable, it is easy to make a wrong steering, which will affect the normal driving of the forklift, such as aggravating the friction between the tire and the ground, and even causing a rollover accident

No effective solution has been proposed in the related art

Images