Research on Anti-rollover Control of Counterweight Forklift Based on Roll Energy Classification

In view of the problem that traditional vehicle stability index LTR is difficult to accurately judge the stability state of balanced weight forklift truck, the roll energy stability index suitable for balance weight forklift truck is proposed. Based on the analysis of the structure of counterweight forklift and the contact relationship between the body and the rear axle, a two-stage dynamic model of contact and non-contact between the rear axle and the body is established, and the forklift rollover process is deduced Real time roll energy in different states. An anti-rollover control strategy of counterweight forklift based on roll energy classification is proposed. According to different stability conditions, the corresponding calculation formula of roll energy stability index is selected to classify the roll energy. Anti-rollover cylinder and rear wheel active steering are used as anti-roll control actuator, and anti-roll control is carried out based on model predictive control. The results show that the anti-rollover control strategy based on roll energy classification can effectively reduce the risk of forklift rollover, and improve the stability and active safety of counterweight forklift.