Research Article
Steering Control Method of Mobile Forklift Based on Sensing Signal
@INPROCEEDINGS{10.1007/978-3-031-28867-8_3, author={Haochen Zhang and Chen Xian}, title={Steering Control Method of Mobile Forklift Based on Sensing Signal}, proceedings={Advanced Hybrid Information Processing. 6th EAI International Conference, ADHIP 2022, Changsha, China, September 29-30, 2022, Proceedings, Part II}, proceedings_a={ADHIP PART 2}, year={2023}, month={3}, keywords={Sensing signal Mobile forklift Steering control Motion variable Sideslip angle of centroid Yaw rate}, doi={10.1007/978-3-031-28867-8_3} }- Haochen Zhang
Chen Xian
Year: 2023
Steering Control Method of Mobile Forklift Based on Sensing Signal
ADHIP PART 2
Springer
DOI: 10.1007/978-3-031-28867-8_3
Abstract
Because the steering control method of the mobile forklift has the problem of large steering deviation, a steering control method of the mobile forklift based on sensing signal is designed. Using the yaw rate calculated by the two-degree-of-freedom front wheel steering model as the ideal value, the steering variables of the mobile forklift truck are obtained, the rotation angle relationship between the two steering wheels is coordinated, the types of steering mechanisms are identified, the linear two-degree-of-freedom model is constructed, the desired steering curve corresponding to the steering wheel is written into the compensation controller, and the steering control mode is optimized by using sensing signals. Experimental results show that the steering deviation between the designed steering control method and the other two methods is 3.257°, 5.466° and 5.486° respectively, which indicates that the steering deviation decreases with the combination of sensing signals.
