Research on road feeling control strategy for electric forklift steer-by-wire system

摘要

Based on the model of TFC20 electric forklift, the composition and working principle of the steer by wire (SBW) system is introduced in this paper. And then the relationship between steering handle force characteristics and vehicle speed, the relationship between steering handle force characteristics and steering handle angle, and the relationship between steering handle force characteristics and lateral acceleration are analyzed in this paper. Based on the requirements of steering handle force characteristics, considering not only to let the driver to get the ideal road feeling characteristics and achieve the traditional steering road feeling effect, but also to meet the free design and adjustable characteristics of SBW road feeling, this paper studies and designs the fusion algorithm for road feeling control, a comprehensive road feeling control strategy including main control and auxiliary control, damping control, limit control is proposed based on the direct measurement of steering motor current and vehicle speed, steering handle angle and other state variables. On the basis of the above research, the target current calculation model of the road feeling motor is presented, and the simulation results show that the model can provide the real road conditions and comfortable road feeling for the driver to meet the standard requirements of forklift steering force characteristics.