中文摘要：

提出一种基于小波网络动态逆内模控制方法的平衡重式叉车底盘集成控制策略,实现对叉车主动后轮转向（Active rear wheel steering,ARS）与直接横摆力矩控制（Direct yaw-moment control,DYC）的解耦控制,以消除叉车底盘各子系统间的耦合作用。在分析叉车底盘集成系统可逆性的基础上,确定解耦输入输出变量的匹配关系,建立小波网络动态逆模型并与原叉车底盘系统串联,将叉车底盘系统解耦为输入输出一一对应的两个独立的伪线性系统,实现了叉车底盘系统各控制回路之间的解耦;设计内模控制器对伪线性系统进行内模控制改善系统的响应品质,并进行仿真分析与基于Lab VIEW PXI和ve DYNA的驾驶员在环试验验证。结果表明,基于小波网络动态逆内模控制方法的平衡重式叉车底盘集成控制策略能够消除ARS与DYC之间的干涉和耦合,提升叉车的状态跟踪和操纵稳定性。

英文摘要：

It is proposed that an integrated control strategy of the counterbalanced forklift truck chassis based on wavelet networks dynamics inverse internal model control method to realize the decoupling control of forklift truck active rear wheel steering（ARS） and direct yaw-moment control（DYC） in order to eliminate the coupling effect among forklift truck chassis subsystems.On the basis of analyzing the reversibility of forklift truck chassis system,the paired relationship of decoupling input and output variable is determined,a wavelet networks dynamics inverse model is obtained and serised with the original forklift truck chassis system,the forklift truck chassis system is decoupled into two independent pseudo-linear systems of the input and output one one,the decoupling between the control loops of the forklift truck chassis system is realized.An internal model controller is designed for internal model control of the pseudo-linear systems to improve the response quality of the systems,and the simulation analysis and a driver-in-the-loop test of Lab VIEW PXI and ve DYNA have been carried up to verify the effectiveness of the control strategy.The results show that the integrated control strategy of the counterbalanced forklift truck chassis based on wavelet networks dynamics inverse internal model control method approach could eliminate the interference and coupling between ARS and DYC,improve the forklift truck status tracking and handling stability performance.