Research on Anti-Rollover Coordinated Control Strategy of Electric Forklift

In order to solve the problem that electric forklifts are prone to rollover when turning, a coordinated control strategy for anti-rollover of electric forklifts is proposed. A forklift dynamics simulation model with integrated centroid position is constructed, the stability of the forklift is judged by the phase plane area division method, the upper controller, including the active steering controller, and the differential brake controller are designed, the control weight coefficient of the active steering controller and the differential brake controller in different control domains is determined through the coordination controller, so as to obtain the required additional rear wheel rotation angle and additional yaw torque, and the braking force distribution controller exerts braking force to the wheel according to the additional yaw torque. A simulation model is built to verify the effectiveness of this control strategy, and the simulation results show that the control strategy can greatly reduce the risk of rollover when the forklift is cornering and further improve the stability of the forklift.