CN107673282A - Control system of electric forklift based on switched reluctance machines driving - Google Patents
Control system of electric forklift based on switched reluctance machines driving Download PDFInfo
- Publication number
- CN107673282A CN107673282A CN201710953980.0A CN201710953980A CN107673282A CN 107673282 A CN107673282 A CN 107673282A CN 201710953980 A CN201710953980 A CN 201710953980A CN 107673282 A CN107673282 A CN 107673282A
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- China
- Prior art keywords
- reluctance motor
- microprocessor
- driving
- switch reluctance
- data
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/24—Electrical devices or systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of control system of electric forklift based on switched reluctance machines driving, it is related to technical field.Including the driving switch reluctance motor for controlling forklift-walking；For controlling the lifting driving switch reluctance motor of fork of forklift truck；And for controlling the controller of driving switch reluctance motor and direction switch reluctance motor；Driving switch reluctance motor and direction switch reluctance motor are connected to sensor；Sensor is connected with a data acquisition module, and data acquisition module is by the data information transfer collected to microprocessor；Microprocessor interacts with what controller was controlled.The present invention controls the operation such as the drive mechanism of fork truck and the lifting inclination of pallet fork respectively by using one group of switched reluctance machines, the double control realized to fork truck is interacted by microprocessor and controller, the running status of fork truck is supervised by microprocessor and carries out data management and security monitoring.
Description
Technical field
The invention belongs to electri forklift technical field, more particularly to the electri forklift control driven based on switched reluctance machines
System processed.
Background technology
Motor and its control system are both the heart of electri forklift, be again electri forklift development key technology it
One, be electri forklift grind make internal disorder or usurp in must solve the problems, such as.Electri forklift is the high-tech product of electromechanical integration, and it includes electricity
Multiple parts such as pond, motor, controller and charger.As the power motor of electri forklift key execution unit, have following several
Point requires：
1. high efficiency：Continual mileage (mileage that battery can travel after once charging) is electri forklift and diesel fork lift truck
The most prominent performance indications compared.The main method for improving continual mileage is to improve accumulator capacity and motor efficiency, electricity
The efficiency high of machine, under identical condition, energy consumption is with regard to small, and distance travelled will improve after once charging, and running cost will therewith
Reduce.
2. small volume：The volume E of motor, which connects, affects motor quality itself, the weight of vehicle and electri forklift
Moulding.The appearance of high performance magnetic material will create extremely beneficial condition for motor volume-diminished, current numerous automobiles
Manufacturing enterprise (such as Ford Motor, company of General Electric) all be directed to develop high power density, high efficiency wide range speed control drive
Dynamic motor.
3. performance：Starting torque is big, invariable power scope is wide, instantaneous power is big, overload capacity is strong, acceleration is good, speed governing
Have a wide reach.Speed adjustable range includes permanent torque area and invariable power area, permanent torque area require low speed operation when, have big torque with
Meet the requirement for starting and climbing：Have when invariable power area requires low torque at high speed, to meet electri forklift flat
The requirement that road surface can run at high speed.There is high efficiency in the range of whole service, to improve the continual mileage once to charge.
4. low cost：It is required that electri forklift Full Vehicle System has equal price level even with diesel fork lift truck Full Vehicle System
It is lower.Safe and reliable property is high：Cooling system performance want height can radiate immediately ensure motor heat resistance.
At present in electri forklift, mainly there are following several motors：Dc motor, ac motor, permanent-magnet electric
Machine and switched reluctance motor etc..What the motor ancestors of electri forklift selected is direct current generator, but with power electronics skill
The development of art, microcomputer technology, automatic control technology and Machine Manufacturing Technology, alternating current generator, magneto and switch magnetic fine horse electricity
Machine shows the performance more superior than direct current generator, and these motors progressively instead of dc motor.It is related both at home and abroad
Grind the conventional driving motor that the personnel of making internal disorder or usurp are directed to this several electronic engineering truck.
The content of the invention
It is an object of the invention to provide the control system of electric forklift driven based on switched reluctance machines, by using one
Group switched reluctance machines control the operation such as the drive mechanism of fork truck and the lifting inclination of pallet fork respectively, are carried out by controller to one
The control operation of group switched reluctance machines, is fed back to by the action signal of this group of switched reluctance machines of data collecting module collected
Microprocessor, the double control realized to fork truck is interacted by microprocessor and controller, fork truck is supervised by microprocessor
Running status and carry out data management and security monitoring.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention is the control system of electric forklift based on switched reluctance machines driving, including for controlling forklift-walking
Driving switch reluctance motor；For controlling the lifting driving switch reluctance motor of fork of forklift truck；And for controlling driving switch
The controller of reluctance motor and direction switch reluctance motor；And the power inverter for power supply power supply；The driving switch
Reluctance motor and direction switch reluctance motor are connected to sensor；The sensor is connected with a data acquisition module, institute
Data acquisition module is stated by the data information transfer collected to microprocessor；What the microprocessor was controlled with controller
Interaction.
Further, the sensor includes torque and speed sensorses, pallet fork load transducer, current detector and position
Detector；The rotational speed and torque data of the data collecting module collected switched reluctance machines, load data, current data, position
Data transfer is to microprocessor.
Further, the microprocessor is also associated with an alarm module.
Further, the operational order of the controller includes forcing halt instruction, tilt operation instruction, descending operation to refer to
Make, no-operation instruction and driving operational order.
The invention has the advantages that：
The present invention controls the drive mechanism of fork truck and the lifting of pallet fork to tilt respectively by using one group of switched reluctance machines
Deng operation, the control operation to one group of switched reluctance machines is carried out by controller, the group is opened by data collecting module collected
The action signal for closing reluctance motor feeds back to microprocessor, is realized by microprocessor with interacting for controller to the dual of fork truck
Control, the running status of fork truck is supervised by microprocessor and carries out data management and security monitoring.
Certainly, any product for implementing the present invention it is not absolutely required to reach all the above advantage simultaneously.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, used required for being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, it can also be obtained according to these accompanying drawings other attached
Figure.
Fig. 1 is the control system of electric forklift figure of the present invention；
Fig. 2 is the system diagram of controller.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained all other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
In the description of the invention, it is to be understood that term " perforate ", " on ", " under ", " thickness ", " top ", " in ",
Indicating position or the position relationship such as " length ", " interior ", " surrounding ", it is for only for ease of the description present invention and simplifies description, without
It is that the component of instruction or hint meaning or element must have specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.
Refer to shown in Fig. 1-2, the present invention is a kind of control system of electric forklift based on switched reluctance machines driving, is wrapped
Include the driving switch reluctance motor for controlling forklift-walking；
For controlling the lifting driving switch reluctance motor of fork of forklift truck；And
For controlling the controller of driving switch reluctance motor and direction switch reluctance motor；And
Power inverter for power supply power supply；
Driving switch reluctance motor and direction switch reluctance motor are connected to sensor；Sensor and a data acquisition
Module connects, and data acquisition module is by the data information transfer collected to microprocessor；Microprocessor is controlled with controller
The interaction of system.
Wherein, sensor includes torque and speed sensorses, pallet fork load transducer, current detector and position detector；
Rotational speed and torque data, load data, current data, the position data of data collecting module collected switched reluctance machines are transferred to micro-
Processor.
Wherein, microprocessor is also associated with an alarm module, data memory module, wireless communication module and locating module,
By the data memory module of setting to store the service data of the control system and control program, carried out by locating module
Fork truck position distribution management, interacting for fork truck and intelligent terminal is realized by wireless communication module, to supervise and control.
Wherein, the operational order of controller includes forcing halt instruction, tilt operation instruction, descending operation instruction, stopping
Operational order and driving operational order.
Embodiment one
Electri forklift rated load is 10 tons, have selected rated voltage 520V, volume according to the actual needs and through overtesting
Determine the pole switching reluctance motor of three-phase 12/8 that power is 30kw.Using SRD systems, whole system is divided into multiple modules, with DSP
Controller is core, mainly uses F2812 PWM passages, A/D converter, pulse capture unit, GPIO mouths, PDPINT pins.
By using battery or power plasma battery group as power supply, by DC-AC-DC circuits boost to 520V, measure voltage ＆ current,
Power circuit, position detecting circuit are carried out to switched Reluctance Motor Control, and then control load.
Controller is additionally provided with interruption protection module, including overcurrent protection signal, overvoltage protection signal, temperature protection signal,
Go out to be additionally provided with radiator in switched reluctance machines.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
At least one implementation of the present invention is contained in reference to specific features, structure, material or the feature that the embodiment or example describe
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
Moreover, specific features, structure, material or the feature of description can close in any one or more embodiments or example
Suitable mode combines.
Present invention disclosed above preferred embodiment is only intended to help and illustrates the present invention.Preferred embodiment is not detailed
All details are described, it is only described embodiment also not limit the invention.Obviously, according to the content of this specification,
It can make many modifications and variations.This specification is chosen and specifically describes these embodiments, is to preferably explain the present invention
Principle and practical application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and its four corner and equivalent.
Claims (4)
1. the control system of electric forklift based on switched reluctance machines driving, it is characterised in that including
For controlling the driving switch reluctance motor of forklift-walking；
For controlling the lifting driving switch reluctance motor of fork of forklift truck；And
For controlling the controller of driving switch reluctance motor and direction switch reluctance motor；And
Power inverter for power supply power supply；
The driving switch reluctance motor and direction switch reluctance motor are connected to sensor；The sensor and a data
Acquisition module connects, and the data acquisition module is by the data information transfer collected to microprocessor；The microprocessor with
The interaction that controller is controlled.
2. the control system of electric forklift according to claim 1 based on switched reluctance machines driving, it is characterised in that institute
Stating sensor includes torque and speed sensorses, pallet fork load transducer, current detector and position detector；The data acquisition
Rotational speed and torque data, load data, current data, the position data of module collection switched reluctance machines are transferred to microprocessor.
3. the control system of electric forklift according to claim 1 based on switched reluctance machines driving, it is characterised in that institute
State microprocessor and be also associated with an alarm module.
4. the control system of electric forklift according to claim 1 based on switched reluctance machines driving, it is characterised in that institute
Stating the operational order of controller includes forcing halt instruction, tilt operation instruction, descending operation instruction, no-operation instruction and drive
Dynamic operational order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710953980.0A CN107673282A (en) | 2017-10-13 | 2017-10-13 | Control system of electric forklift based on switched reluctance machines driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710953980.0A CN107673282A (en) | 2017-10-13 | 2017-10-13 | Control system of electric forklift based on switched reluctance machines driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107673282A true CN107673282A (en) | 2018-02-09 |
Family
ID=61140674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710953980.0A Pending CN107673282A (en) | 2017-10-13 | 2017-10-13 | Control system of electric forklift based on switched reluctance machines driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107673282A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065912A (en) * | 2019-05-22 | 2019-07-30 | 徐州徐工特种工程机械有限公司 | The linkage interlocked control system of electri forklift |
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| US5815085A (en) * | 1995-11-16 | 1998-09-29 | Hk Systems, Inc. | Storage and retrieval machine having improved real-time responsiveness and improved noise immunity |
| CN1559826A (en) * | 2004-03-01 | 2005-01-05 | 上海市闸北区物流工程技术研究所 | Energy-saving electrocar for loading unloading and transporting |
| CN201566510U (en) * | 2009-12-10 | 2010-09-01 | 合肥搬易通科技发展有限公司 | Novel control device for power-driven forklift |
| CN201659899U (en) * | 2010-04-02 | 2010-12-01 | 杭州浙力叉车集团有限公司 | Structure and combination of dynamic control system and electronic control system of forklift truck |
| CN203251258U (en) * | 2013-04-26 | 2013-10-23 | 中国计量学院 | Motor control device for electric forklift truck |
| CN203666422U (en) * | 2013-12-17 | 2014-06-25 | 中国计量学院 | Control device for switched reluctance motors for driving electric car |
| CN105799546A (en) * | 2015-01-15 | 2016-07-27 | 丰田自动车株式会社 | Vehicular control apparatus |
-
2017
- 2017-10-13 CN CN201710953980.0A patent/CN107673282A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5815085A (en) * | 1995-11-16 | 1998-09-29 | Hk Systems, Inc. | Storage and retrieval machine having improved real-time responsiveness and improved noise immunity |
| CN1559826A (en) * | 2004-03-01 | 2005-01-05 | 上海市闸北区物流工程技术研究所 | Energy-saving electrocar for loading unloading and transporting |
| CN201566510U (en) * | 2009-12-10 | 2010-09-01 | 合肥搬易通科技发展有限公司 | Novel control device for power-driven forklift |
| CN201659899U (en) * | 2010-04-02 | 2010-12-01 | 杭州浙力叉车集团有限公司 | Structure and combination of dynamic control system and electronic control system of forklift truck |
| CN203251258U (en) * | 2013-04-26 | 2013-10-23 | 中国计量学院 | Motor control device for electric forklift truck |
| CN203666422U (en) * | 2013-12-17 | 2014-06-25 | 中国计量学院 | Control device for switched reluctance motors for driving electric car |
| CN105799546A (en) * | 2015-01-15 | 2016-07-27 | 丰田自动车株式会社 | Vehicular control apparatus |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110065912A (en) * | 2019-05-22 | 2019-07-30 | 徐州徐工特种工程机械有限公司 | The linkage interlocked control system of electri forklift |
| CN110065912B (en) * | 2019-05-22 | 2024-05-28 | 徐州徐工特种工程机械有限公司 | Linkage interlocking control system of electric forklift |
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Application publication date: 20180209 |