Method and experiment of forklift stability warning based on Multi-Core parallel digital twin

doi:10.16265/j.cnki.issn1003-3033.2024.08.0394

Abstract

Abstract:

In order to improve the safety and intelligence level of forklift truck, a forklift stability warning method based on multi-core parallel digital twin is proposed. First, the open-source high-precision inertial navigation sensor is used to evaluate the driver's operating habits and road smoothness, and then drive the digital twin operation. Secondly, the optimization algorithm is used to calculate the limit operating parameters that meet the stability conditions, such as the highest load and the fastest driving speed. Then, two acceleration strategies are proposed, which use the open source C language compiled solver and multi-core Central Processing Unit (CPU) in parallel, to shorten the optimization iteration time. Finally, taking a forklift truck as the test object, the accuracy of the measurement of the flight control system is verified, and the real-time performance of the digital twin stability early warning method is analyzed. The results show that the flight control system has high monitoring accuracy, the theoretical calculated values are basically consistent with the collected values, and the longitude and latitude deviation of global positioning system (GPS) is about 1 m. The digital twin program has a faster prediction speed. The digital twin compiled by the open source C language is 3 times faster than the Simulation X3.8 platform, and the parallel digital twin method is 20 times more efficient than the simulation platform.

Key words: Multi-Core parallel, digital twins, forklift, stability early warning, early warning method, parallel optimization

CLC Number:

X941

MA Shuhuan, NING Zhiqiang, WEI Lixin. Method and experiment of forklift stability warning based on Multi-Core parallel digital twin[J]. China Safety Science Journal, 2024, 34(8): 93-100.

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部件	类型	参数值
开源飞控	飞控系统2.8	高精度陀螺仪、罗盘
GPS	M8N	精度0.5 m
数传电台	权盛3DRRadio	433 MHz(2 000 m)
姿态测量传感器	维特蓝牙5.0	传输距离50 m
直流降压模块	超免电池电路	输出电压5 V
锂电池		额定电压11.1 V