International Journal of Intelligent Systems and Applications (IJISA)
IJISA Vol. 8, No. 11, 8 Nov. 2016
Cover page and Table of Contents: PDF (size: 825KB)
Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System
Full Text (PDF, 825KB), PP.70-79
Views: 0 Downloads: 0
Author(s)
Yang Liu
1,*
Benxian Xiao
2
Index Terms
Electric forklift, full state feedback, ideal transmission ratio, modeling, steer-by-wire, yaw rate feedback
Abstract
In this paper, according to the structure char-acteristics of steer-by-wire (SBW) system for the TFC20 electric forklift, steering dynamics model and two degree of freedom vehicle model are deduced for SBW forklift. Aiming at the free design features of the angular trans-mission characteristics in the SBW system of electric forklift, the theory of active steering control strategy is studied. After analyzing the influence factors of the an-gular transmission ratio of the steering system, the ideal angular transmission ratio is proposed, which is based on the yaw rate gain invariance. Also, the control strategy of the yaw rate feedback and the full state feedback is stud-ied. The simulation results show that the above strategy is effective for the active steering control; it can improve the operating stability and the response speed of the fork-lift.
Cite This Paper
Yang Liu, Benxian Xiao, "Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System", International Journal of Intelligent Systems and Applications (IJISA), Vol.8, No.11, pp.70-79, 2016. DOI:10.5815/ijisa.2016.11.08
Reference
[1]Halton M., Hayes M.J. and Iordanov P, “State-space μ analysis for an experimental drive-by-wire vehicle,” In-ternational Journal of Robust and Nonlinear Control, Vol.18, No.9, pp. 975-992 ,2008.
[2]H. Wang, H. Kong, Z. Man, M. T. Do, Z. Cao, and W. Shen, “Sliding mode control for Steer-by-Wire systems with AC motors in road vehicles,” IEEE Transactions on Industrial Electronics, Vol.61, No.3, pp. 1596-1611, 2014.
[3]M. T. Do, Z. Man, C. Zhang, H. Wang, and F. Tay, “Ro-bust sliding mode learning control for Steer-by-Wire sys-tems,” IEEE Transactions on Vehicular Technology, Vol. 63, No. 2, pp. 580-590, 2014.
[4]Xiao, Benxian. “The Research of Fuzzy Variable Transmission Ratio for Steer-by-wire System of Electric Forklift.” International Journal of Intelligent Systems and Applications, Vol. 7, No.5, pp.31-39, 2015.
[5]Pradeep Setlur, John R. Wagner, Darren M. Dawson and David Braganza, “A Trajectory Tracking Steer-by-Wire Control System for Ground Vehicles,” IEEE Transactions on Vehicular Technology, Vol.55, No.1, pp. 76-85, 2006.
[6]Yu Leiyan, LinIN Yi and Shi Guobiao, “Research on active steering control strategy of steer-by-wire system,” Computer Simulation, Vol.25, No.5, pp. 233-235, 2008.
[7]Howser Gerry and McMillin Bruce, “Modeling and rea-soning about the security of drive-by-wire automobile systems,” International Journal of Critical Infrastructure Protection, Vol.5, No.3, pp. 127-134 ,2012.
[8]Masaya S., Shiro N., Osamu N., et al. “Vehicle stability control strategy for steer-by-wire system,” JSAE Review, Vol.22, No.9, pp. 383-388, 2001.
[9]P. Lemerle, O. Höppner and J. Rebelle, “Dynamic stability of forklift trucks in cornering situations: parametrical analysis using a driving simulator,” Vehicle System Dynamics, pp. 4910, 2011.
[10]Sven Kleine and Johannes Van Niekerk, “Modeling and Control of a Steer-By-Wire Vehicle,” Vehicle system dy-namics Supplement, Vol.29, No.28, pp. 114-142, 1998.
[11]Shu-fang G, Li-fang W, “Strategies to improve steering handling performance for steer-by-wire system,” Computer and Communication Technologies in Agriculture Engineering (CCTAE), 2010 International Conference On. IEEE, Vol.1, pp. 296-299, 2010.
[12]Yan He and Benxian Xiao, “Research of the forklift pow-er-assisted steering system based on safety steering speed control,” International Journal on Smart Sensing and In-telligent Systems, Vol.8, No.1, pp. 749-765, 2015.
[13]Chen Xiang, Yang Tiebao and Chen Xiaoqun, etc. “A generic model-based advanced control of electric pow-er-assisted steering systems,” IEEE Transactions on Con-trol Systems Technology, Vol.16, No.6, pp. 1289-1300, 2008.
[14]Rinchi Mirko, Pugi Luca, Bartolini Fabio and Gozzi Luigi, “Design of control system to prevent forklift capsize,” In-ternational Journal of Vehicle Systems Modeling and Testing, Vol.5, No.1, pp. 35-58, 2010.
[15]Mahfouz, Ahmad A., M. K. Mohammed, and Farhan A. Salem. "Modeling, Simulation and Dynamics Analysis Issues of Electric Motor, for Mechatronics Applications, Using Different Approaches and Verification by MATLAB/Simulink." International Journal of Intelligent Systems and Applications, Vol.5, No.5, pp. 39-57, 2013.
[16]Tao Meng and Hui Chen, "A Study on the Control Strategy for Wheel Return and Active Damping of Electric Power Steering System," Automotive Engineering, Vol.28, No.12, pp. 1125-1128, 2006.
[17]Pastorino, Roland, et al. "Geared PM coreless motor mod-elling for driver’s force feedback in steer-by-wire systems." Mechatronics, Vol.21, No.6, pp. 1043-1054, 2011.
[18]Zheng, Bing, and S. Anwar. "Yaw stability control of a steer-by-wire equipped vehicle via active front wheel steering." Mechatronics, Vol.19, No.6, pp. 799-804, 2009.
[19]Yan Peng, Wenqing Guo, Mei Liu, and Shaorong Xie, “Active modeling based yaw control of unmanned ro-torcraft”, International Journal on Smart Sensing and In-telligent Systems, Vol. 7, No. 1, pp. 380-399 ,2014.
[20]Baslamisli S.C., Polat I. and Kose I.E, “Gain Scheduled Active Steering Control Based on a Parametric Bicycle Model,” IEEE Intelligent Vehicles Symposium, pp. 1168-1173, 2007.
[21]Shen Huan, Tan Yunsheng and Mao Jianguo, “A driver model for dynamic evaluation of the EPS assistant char-acteristics,” Journal of Applied Sciences, Vol. 13, No.9, pp. 1455-1460, 2013.
[22]Alessandro Dell’Amico and Petter Krus ,“Modeling, Sim-ulation, and Experimental Investigation of an Electrohy-draulic Closed-Center Power Steering System,” IEEE/ASME Transactions on Mechatronics, Vol.20, No.5, pp. 2452-2462, 2015.
[23]Chitu Cristian, Lackner Jochen and Horn Martin, etc. “Controller design for an electric power steering system based on LQR techniques,” The International Journal for Computation and Mathematics in Electrical and Electronic Engineering, Vol.32, No.3, pp. 763-775, 2013.
[24]Zhen Zhang, K. T. Chau and Zheng Wang, “Analysis and Stabilization of Chaos in the Electric-Vehicle Steering System,” IEEE Transactions on Vehicular Technology, Vol.62, No.1, pp. 118-126, 2013.