LQR optimal control research for four-wheel steering forklift based-on state feedback

摘要

Taking the steering performance of four-wheel steering (4WS) forklift as the research object, based on two degrees of freedom (2DOF) model and three degree of freedom (3DOF) model of 4WS system, combined with the characteristics and steering requirements of forklift, the Linear Quadratic Regulator (LQR) optimization control algorithm based on state feedback is proposed, and the solution of LQR control algorithm for the 4WS forklift is presented. The simulation analyses of the steering performance of proportional control 4WS, LQR control 4WS and rear wheel steering (RWS) control are given. The simulation results show that the comprehensive effect of LQR optimal control is better, and it effectively improves the flexibility and the handling stability of 4WS forklift.