Design And Application Of Motion Control System For Heavy Duty Unmanned Forklift Truck

As an intelligent industrial vehicle robot,heavy-duty unmanned forklifts are usually used in the warehousing and logistics handling of multiple goods and heavy objects,with a load capacity of generally 3.5 tons or more,playing an important role in intelligent logistics warehousing systems.Compared with ordinary unmanned forklifts,heavy-duty unmanned forklifts are difficult to accurately control the driving angle,braking distance,and steering angle due to interference factors such as uneven ground and heavy load,resulting in large inertia and different cargo properties.Traditional control methods are difficult to meet the requirements of heavy-duty unmanned forklifts.This article proposes effective solutions to the above problems encountered by heavy-duty unmanned forklifts when operating in logistics and warehousing environments,The main research content is as follows:1.By analyzing the usage environment and work requirements of heavy-duty unmanned forklifts,analyze and select the hardware used in each system of heavy-duty unmanned forklifts,and arrange it reasonably in various parts of the body of the heavy-duty unmanned forklifts.2.Analyze the control system of heavy-duty unmanned forklifts.First,design a dual closed-loop controller to control the speed of the DC motor and hydraulic motor.Based on this,design a PID controller and use the operating characteristic values of the forklifts as their inputs to achieve synchronous control of the forklifts;On this basis,design a fuzzy PID controller;In order to further improve the control effect,particle swarm optimization is introduced on this basis,and a fuzzy PID controller based on particle swarm optimization is designed to minimize the system synchronization error.3.Establish a mathematical model of the motor and control algorithm rules,use MATLAB simulation software to simulate the operation of heavy-duty unmanned forklifts,and analyze the control performance of each controller.According to work requirements,design the overall and various parts of the program,assemble a prototype of a heavy-duty unmanned forklift,and conduct experiments.