Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System

摘要

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.