Introduction:

As an important transportation, the research on the control strategy of forklift has not been widely carried out.

Objectives:

This article proposes a turning slip regulation control strategy, which includes the improved electronic differential velocity control and turning slip regulation control, to track the optimal slip ratio.

Methods:

First, combined with the basic structure and characteristics of dual-wheel-independent-drive electric forklift, the vehicle model, Ackermann–Jeantand steering model, tire-ground model, and tire model of the driving wheel are established respectively. Second, according to these models, an improved electronic differential control strategy considering the influence of vertical load on tire force is proposed and it can reasonably allocate the driving torque of the two driving wheels of electric forklift. Moreover, the optimal slip ratio is given out and the turning slip regulation control strategy, which can track the optimal slip ratio of electric forklift under the conditions of different road surfaces is designed.

Results:

The simulation result and vehicle test show that the control strategy can optimize the slip ratio of electric forklift and greatly improve the stability of electric forklift.

Conclusion:

The turning slip regulation control strategy can be implemented on the TFC35 forklift to improve the safety and stability.

中文翻译：

---

基于最优滑移率的电动叉车双轮独立驱动控制研究

介绍：

叉车作为一种重要的运输工具，其控制策略的研究尚未广泛开展。

目标：

本文提出了一种转弯滑移调节控制策略，包括改进的电子差速控制和转弯滑移调节控制，以跟踪最佳滑移率。

方法：

首先，结合双轮独立驱动电动叉车的基本结构和特点，分别建立整车模型、Ackermann-Jeantand转向模型、轮胎-地面模型、驱动轮轮胎模型。其次，根据这些模型，提出了一种考虑垂直载荷对轮胎力影响的改进电子差速控制策略，可以合理分配电动叉车两个驱动轮的驱动扭矩。此外，给出了最佳滑移率，并设计了转弯滑移调节控制策略，可以跟踪电动叉车在不同路面条件下的最佳滑移率。

结果：

仿真结果和整车测试表明，该控制策略能够优化电动叉车的滑移率，大大提高电动叉车的稳定性。

结论：

TFC35叉车可实施转弯滑移调节控制策略，提高安全性和稳定性。