Based on the structural analysis and the roll mechanisms of counterbalanced forklift truck, a novel type of 3-link hydraulic supporting mechanism is designed as an actuator for forklift anti-rollover control. A rollover grading control strategy of the lateral stability of counterbalanced forklift truck is proposed, which is used to design a variable universe fuzzy controller. The variable universe fuzzy control of the first-order roll is utilized when the forklift is in the first-order roll, whereas the variable universe fuzzy control of the second-order is used when the forklift is in the second-order roll. A virtual prototype model of forklift is built in Automatic Dynamic Analysis of Mechanical Systems (ADAMS). The co-simulations and vehicle tests are implemented, the results indicate that the lateral stability and active security of the forklift could be improved effectively by using the variable universe fuzzy control strategy of the lateral stability of forklift truck based on roll grading.

基于平衡重叉车的结构分析和侧倾机构，设计了一种新型的三连杆液压支撑机构作为叉车防侧翻控制的执行机构。提出一种平衡重式叉车横向稳定性的侧翻分级控制策略，用于设计变域模糊控制器。叉车在一阶滚动时采用一阶滚动变域模糊控制，而叉车在二阶滚动时采用二阶变域模糊控制。在机械系统自动动态分析（ADAMS）中建立了叉车的虚拟原型模型。实施联合仿真和车辆测试，