叉车底盘神经网络逆系统解耦控制 decoupling control of forklift truck chassis based on neural network inverse system.pdfVIP

３９ １ （ ） Vol．３９ No．１ ２０１６ １ JOURNAL OF HEFEI UNIVERSITY OF TECHNOLOGY Jan．２０１６ Doi：１０ ．３９６９／ ．issn．１００３‐５０６０ ．２０１６ ．０１ ．００３ j １ ２ １ １ ， ， ， （１ ． ， ２３０００９ ；２ ． ， ２３００３７） ：， （active rear steering，ARS）（direct yaw moment control，DYC） 。 ，，BP ，２ ； PD ，。 ， ，。 ：；；；； ：U２７０.１ ：A ：１００３‐５０６０（２０１６）０１‐００１４‐０６ １ ２ １ １ XIA Guang ， TANG Xi‐wen ， HU Jin‐fang ， ZHAO Lin‐feng （１ ．Institute of Automobile Engineering Technology ， Hefei University of Technology ， Hefei２３０００９ ，China；２ ．Dept ．of Radar Confron‐ tation，Electronic Engineering Institute， Hefei ２３００３７ ， China） ：In view of the interference and coupling characteristics among forklift truck chassis subsys‐ tems，the decoupling control of forklift truck active rear steering（ARS） and direct yaw moment con‐ trol（DYC） is studied by using the neural network inverse method of nonlinear systems．On the basis of the analysis of the reversibility of chassis system，the paired relationship of decoupling variablesis determined，and aBP neural network inverse system model isobtainedandconnectedin series before theoriginal chassis system， so the forklift truck chassis system is decoupled into two independent pseudolinear systems．A closed‐loop PD controller is designed and combined with neural network in‐ verse system into acompoundcontroller，and the simulationverificationisconducted．The simulation results show that theneural networkinverse system decoupling control approachcaneliminatethein‐ terference andcoupling among chassis subsystems，improve the vehicle status tracking and handling stability performance． ：forklift truck chassis；active rear