ITM Web Conf.
Volume 12, 2017The 4th Annual International Conference on Information Technology and Applications (ITA 2017)
|Number of page(s)||7|
|Section||Session 1: Robotics|
|Published online||05 September 2017|
Research on Sliding Mode Control for Steer-by-Wire System in Forklift
1 Institute of Industry & Equipment Technology, School of Electrical Engineering and Automation, Hefei University of Technology, Hefei, P.R. China
2 School of Electrical Engineering and Automation, Hefei University of Technology, Hefei, P.R. China
3 Institute of Industry & Equipment Technology, Hefei University of Technology, Hefei, P.R. China
Aiming at steering stability and wheel angle tracking of steer-by-wire (SBW) three wheeled forklift, steering dynamic model and SBW system mathematical model of three wheeled forklift are established. A control strategy for the ideal transmission ratio is introduced based on this model, which ensures forklift steering gain invariant. A sliding mode controller can then be designed based on the bound information of uncertain system parameters, uncertain self-aligning torque, and external disturbances. The results of simulation show the control strategies above can effectively reduce the sideslip angle when the forklift is steering and improve the sensitivity and stability of the steering forklift; at the same time can effectively restrain the parameter perturbation of internal system and external disturbance, which improves the tracking performance of the wheel angle.
© The Authors, published by EDP Sciences, 2017
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