The Decoupling Control of ARS and DYC Based on the Neutral Network Inverse System Method

2nd International Conference on Manufacturing Technologies

Tang, Xiwen^1 ; Dong, Rui^1 ; Wu, Shilong^1 ; Xia, Guang^2 ; Xie, Hai^2

School of Radar Confrontation, National University of Defense, Hefei, China^1

Institute of Automotive Engineering, Hefei University of Technology, Hefei, China^2

关键词: Closed loop controllers;    Composite controllers;    Coupling characteristic;    Decoupling control strategy;    Decoupling controls;    Direct yaw moment control;    Inverse system methods;    Operating stability;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/398/1/012016/pdf
DOI  :  10.1088/1757-899X/398/1/012016

来源: IOP

【 摘 要 】

According to the interference and coupling characteristics among sub-systems of the chassis of the forklift truck, the the neutral network inverse system method of the non-linear system is applied for the decoupling control of the active rear steering (ARS) and the direct yaw moment control (DYC) of the forklift truck. Based on the analysis of the reversibility of the chassis system, a back propagation neutral network reverse system model is set to decouple the chassis system into two independent pseudo-linear system; A PD closed loop controller is designed to comprise a composite controller with the neutral network reverse system and the simulation is performed for verification. The simulation result shows that the decoupling control strategy with the neutral network reverse system can eliminate the interference and coupling among sub-systems of the chassis and thus enhances the status tracking and operating stability of forklift trucks.