中文摘要：

以四轮叉车的线控转向系统为研究对象,以跟踪理想横摆角速度和质心侧偏角来控制目标,根据线控转向系统整车二自由度模型,设计出一种基于横摆角速度和质心侧偏角联合反馈的模糊控制器,来改善叉车的操纵性能。根据TFC35型叉车的实际数据,在MATLAB/Simulink中将联合反馈模糊控制与普通的前轮转向控制、比例控制分别在空载和负载工况下的响应曲线进行对比分析。仿真结果表明,联合反馈模糊控制器能有效地跟踪横摆角速度和减小质心侧偏角,提高了叉车的灵活性和操纵稳定性。

英文摘要：

The direct adaptive steering system of the four-wheel forklift served as the study object. The ideal yaw rate and the sideslip angle of the mass center were traced so as to control the objectives, and according to the two-dof model of the forklift with the direct adaptive steering system, a kind of fuzzy controller was designed based on combined feedback of the yaw rate and the sideslip angle of the mass center, so as to improve the performance of the forklift. According to actual data of TFC35 forklift, the response curves of combined feedback fuzzy control and those of conventional front-wheel steering control, proportional control in no-load and loading operation mode were compared and analyzed in MATLAB/Simulink. Simulation results showed the combined feedback fuzzy controller effectively traced the yaw rate and reduced the sideslip angle of the mass center, thus the flexibility and the handling stability of the forklift improved.