Research On The Performance Of Omnidirectional Steering Mode For Electric-driving Side-loading Forklift

With the engineering practice to make fresh demands on forklift continuously.Ordinary forklift can not meet the needs of handling and transportation in special environment, areas and materials.The invention of omnidirectional side loading forklift improves the efficiency of truck handling long explosive objects in the narrow and high-density storage environments.This type of forklift always uses explosion-proof battery as energy and combine the functions of fork loading,lifting,short-distance transport as a whole,At the same time it has the advantages of flexible?high steering precision?maneuverability?low cost and environmental adaptability.This paper takes the omnidirectional driving technology as the research object,The technology can make the side loading forklift complete actions such as straight driving ?transverse, oblique, pivot turn in the case of stationary vehicle body?This technology enables the forklift to stack objects in narrow space, it greatly enhances the flexibility and efficiency of forklift.The main work of the paper is below:1)Analyzed main structures, proposed key performance parameters of omnidirectional side loading forklift and determined the vehicle steering model,deduced the geometric relationship of the four wheels of the corner. Considering the body roll DOF and using the PAC2002 tire model, a 3-DOF vehicle dynamics model of omnidirectional side loading forklift is built in this paper.it enhanced the accuracy of the mathematical model but the calculation is not too complex.At last, simulation model is established by Simulink.2)Designed for omnidirectional side loading forklift's hydraulic steering system, LUDV technology was applied to this system.Analyzed the dynamic performance and stability performance of the system by building single hydraulic steering system mathematical model.Through the simulation analysis have found that simply using the PID control cannot achieve satisfactory control effect.In order to improve the stability of the steering system and shorten the system's response time, fuzzy PID controller was applied.3)Analyzed and researched on the structure and working principle of Omnidirectional side loading forklift's the electric power steering system. The brushless D C motor was applied to the driving and steering integration wheel.Then built the electric power steering system's dynamics model and and adopted the control strategy which combine with the traditional PID control and PWM modulation.At last analyzed of the dynamic response performance of electric power steering system by using simulation software Simulink.4)At the end of the article,compared dynamic response characteristics and established simulation model to analysis of steering precision of the two kinds of steering system with using AMESim.We can realize the advantages and disadvantages of both systems,This provides theoretical guidance for the selection of side loading forklift steering system.