期刊名称：International Journal on Smart Sensing and Intelligent Systems
印刷版ISSN：1178-5608
出版年度：2015
卷号：8
期号：1
页码：749-765
出版社：Massey University
摘要：Enhancing the safety of forklift power-assisted steering system is a problem urgently to besolved in practice. First of all, forklift power-assisted steering system model is established according toLagrange dynamical equations, and three variable assistance characteristics curve fitted for reachtrucks is designed combined with fuzzy control algorithm. Then sliding mode variable-structure controlmethod based on motor current control is used tracking the target current and making contrast withthe traditional PID in order to justify the validity of the algorithm. Finally, the expression of speed withtri-function is built. Optimization of safety speed is added on the basis of traditional power-assistedsteering to ensure the stability and security of forklift steering.
关键词：Dynamical characteristic curve; EPS of forklift; safety speed; sliding mode control based on;reaching law.
