The Decoupling Control of ARS and DYC Based on the Neutral Network Inverse System Method

According to the interference and coupling characteristics among sub-systems of the chassis of the forklift truck, the the neutral network inverse system method of the non-linear system is applied for the decoupling control of the active rear steering (ARS) and the direct yaw moment control (DYC) of...

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Bibliographic Details
Published inIOP conference series. Materials Science and Engineering Vol. 398; no. 1; pp. 12016 - 12020
Main Authors Tang, Xiwen, Dong, Rui, Wu, Shilong, Xia, Guang, Xie, Hai
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 20.08.2018
Subjects
Active control
Closed loops
Control systems design
Controllers
Coupling
Decoupling
Fork lift trucks
Forklift trucks
Interference
Steering
Yaw
Yawing moments
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Summary:According to the interference and coupling characteristics among sub-systems of the chassis of the forklift truck, the the neutral network inverse system method of the non-linear system is applied for the decoupling control of the active rear steering (ARS) and the direct yaw moment control (DYC) of the forklift truck. Based on the analysis of the reversibility of the chassis system, a back propagation neutral network reverse system model is set to decouple the chassis system into two independent pseudo-linear system; A PD closed loop controller is designed to comprise a composite controller with the neutral network reverse system and the simulation is performed for verification. The simulation result shows that the decoupling control strategy with the neutral network reverse system can eliminate the interference and coupling among sub-systems of the chassis and thus enhances the status tracking and operating stability of forklift trucks.
ISSN:1757-8981
1757-899X
1757-899X
DOI:10.1088/1757-899X/398/1/012016