To reduce the probability of a rollover accident of a forklift during high-speed steering, a hydraulic support cylinder is designed as an actuator to provide lateral support for the forklift. Aiming at the problem of judging the safety domain in the process of forklift driving, this paper proposes a strategy for dividing the forklift’s driving state on the basis of the zero moment point. The relationship between the zero moment point’s lateral component and the forklift’s support plane is used as the basis for division. The forklift rollover process is divided into a safe stage, a controllable danger stage, and a critical rollover stage. In the safe stage, the cylinder does not provide support force, and in the controllable danger stage, the cylinder support force is adjusted on the basis of the model predictive control algorithm to adjust the forklift. The cylinder can be controlled to provide maximum support for the body during the critical rollover phase. This method takes the three-degrees-of-freedom forklift anti-rollover model as the control object and serves as the basis for the calculation of the zero moment point. The anti-rollover controller is built in MATLAB/Simulink to simulate the European standard operating conditions and to verify the actual vehicle test. Results show that the predictive control of the forklift anti-rollover model based on the zero moment point can effectively improve the body attitude of the forklift during high-speed steering and prevent the forklift from rolling over.

为了减少叉车在高速转向过程中发生侧翻事故的可能性，将液压支撑缸设计为致动器，以为叉车提供侧向支撑。针对叉车行驶过程中判断安全域的问题，提出了一种基于零力矩点的叉车行驶状态划分策略。零力矩点的横向分量与叉车的支撑平面之间的关系用作划分的基础。叉车翻车过程分为安全阶段，可控危险阶段和关键翻车阶段。在安全阶段，油缸不提供支撑力；在可控危险阶段，根据模型预测控制算法调整油缸支撑力，以调整叉车。在关键的翻车阶段，可以控制液压缸以为车身提供最大的支撑。该方法以三自由度叉车防倾翻模型为控制对象，为零力矩点的计算奠定了基础。防侧倾控制器内置于MATLAB / Simulink中，可模拟欧洲标准操作条件并验证实际的车辆测试。结果表明，基于零力矩点的叉车防侧翻模型的预测控制可以有效提高叉车高速转向时的车身姿态，防止叉车侧翻。在关键的翻车阶段，可以控制液压缸以为车身提供最大的支撑。该方法以三自由度叉车防倾翻模型为控制对象，为零力矩点的计算奠定了基础。防侧倾控制器内置于MATLAB / Simulink中，可模拟欧洲标准操作条件并验证实际的车辆测试。结果表明，基于零力矩点的叉车防侧翻模型的预测控制可以有效提高叉车高速转向时的车身姿态，防止叉车侧翻。在关键的翻车阶段，可以控制液压缸以为车身提供最大的支撑。该方法以三自由度叉车防倾翻模型为控制对象，为零力矩点的计算奠定了基础。防侧倾控制器内置于MATLAB / Simulink中，可模拟欧洲标准操作条件并验证实际的车辆测试。结果表明，基于零力矩点的叉车防侧翻模型的预测控制可以有效提高叉车高速转向时的车身姿态，防止叉车侧翻。该方法以三自由度叉车防倾翻模型为控制对象，为零力矩点的计算奠定了基础。防侧倾控制器内置于MATLAB / Simulink中，可模拟欧洲标准操作条件并验证实际的车辆测试。结果表明，基于零力矩点的叉车防侧翻模型的预测控制可以有效提高叉车高速转向时的车身姿态，防止叉车侧翻。该方法以三自由度叉车防倾翻模型为控制对象，为零力矩点的计算奠定了基础。防侧倾控制器内置于MATLAB / Simulink中，可模拟欧洲标准操作条件并验证实际的车辆测试。结果表明，基于零力矩点的叉车防侧翻模型的预测控制可以有效提高叉车高速转向时的车身姿态，防止叉车侧翻。