CN109808507B - Slope-retaining and slope-sliding integrated control system suitable for electric forklift - Google Patents
Slope-retaining and slope-sliding integrated control system suitable for electric forklift Download PDFInfo
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- CN109808507B CN109808507B CN201811651915.3A CN201811651915A CN109808507B CN 109808507 B CN109808507 B CN 109808507B CN 201811651915 A CN201811651915 A CN 201811651915A CN 109808507 B CN109808507 B CN 109808507B
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Abstract
The invention discloses a comprehensive control system for slope parking and slope sliding suitable for an electric forklift, which comprises the following control steps: when the speed detection unit detects that the speed of the vehicle is zero, the torque estimation unit calculates the current torque; when the torque is greater than a set threshold value, triggering a hill-holding control unit, and stopping the vehicle on a hill by electric braking of a motor; when the electric braking time of the vehicle exceeds the slope parking time, the system is actively switched to the slope sliding control unit; and the torque estimation unit is used for calculating the current torque, when the torque is smaller than a preset threshold value, the system considers that the vehicle is on the flat ground, the system actively exits the slope slipping state, the vehicle stops on the flat ground, the torque is smaller than the preset threshold value, and the system returns to the normal working mode. The invention is finished by braking when entering the slope-holding procedure, and does not need an external trigger signal. The motor controller controls the motor to be static in a closed-loop mode and is automatically suitable for different slopes. Thus, different PI tables can be calibrated without different ramps; the invention increases the slope slipping speed setting item, and is stable and safe in the slope slipping process through the speed closed loop.
Description
Technical Field
The invention relates to the field of electric forklift control systems, in particular to a comprehensive control system for slope parking and slope sliding of an electric forklift.
Background
With the development of society, especially the progress of science and technology, the rapid development of social productivity is greatly promoted; especially, the industrialization and informatization process is accelerated, and the strong power is increased for the social progress; among them, electric forklifts mainly based on new energy are increasingly widely used.
Due to the wide application of the electric forklift, the applicable environment is more and more complex; typical climbing environments are common. During the climbing of an electric vehicle, the electric forklift is on a slope, and due to the negligence of an operator or the requirement of work safety, the vehicle needs to be stopped on the slope for a short time or slowly run to the flat ground.
As shown in fig. 1, in a downhill engineering, an excessively fast descent speed may affect the safety of personnel. Stopping on a slope for a long time can also cause the motor to overheat and cause a safety hazard. Therefore, when the target rotation speed of the electric forklift is zero on a slope, the vehicle actively stops on the slope or slowly travels to the flat ground according to a preset strategy.
The patent with the patent publication number of CN108312895A discloses a control method and a device for preventing a vehicle from sliding down a slope and a pure electric vehicle, wherein the control method determines the instantaneous acceleration and the acting torque of the vehicle at the moment when the vehicle enters the anti-sliding mode according to a trigger instruction after receiving the trigger instruction for starting the anti-sliding mode, and then determines the slope value of the current position of the vehicle according to the instantaneous acceleration and the acting torque; searching a PI parameter corresponding to the gradient value from a preset PI parameter comparison table; and adjusting the output torque of the motor according to the PI parameter so as to enable the vehicle to be in a relatively static state. The above prior art has the following disadvantages: first, different PI parameters need to be queried because of the different ramps. This makes field calibration difficult and requires different PI parameters to be established for different slopes. The ramp value in the actual working condition is a continuous value, and when a table is made, the ramp value is discrete points and discontinuous, so that the engineering implementation is difficult. Secondly, the final effect of the prior art is to stop the vehicle on the slope in a slope-parking manner, so that in the application environment of the forklift, the dead weight of the vehicle is large, and the motor current required for the vehicle to stay on the slope is large and often exceeds the rated current of the motor. The motor runs for a long time under the working condition, and the reliability of the motor is influenced. Causing accidents.
Meanwhile, most of the existing strategies are based on torque control, so that different slope slopes are caused, the running speed of the slope is not constant, and the calibration is inconvenient.
Therefore, it is a problem worth studying to provide a comprehensive control system for slope parking and slope slipping which can be applied to an electric forklift.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a comprehensive control system for slope parking and slope slipping of an electric forklift.
The purpose of the invention is realized as follows:
slope-retaining and slope-sliding integrated control system suitable for electric forklift
The device comprises a speed detection unit, a torque estimation unit, a slope parking detection unit, a slope sliding control unit and a slope sliding push-out unit which are related through signal signals;
the method comprises the following specific control steps:
the first step is as follows: when the speed detection unit detects that the speed of the vehicle is zero, the torque estimation unit calculates the current torque;
the second step is that: when the torque is greater than a set threshold value, triggering a hill-holding control unit, and stopping the vehicle on a hill by electric braking of a motor;
the third step: when the electric braking time of the vehicle exceeds the slope parking time, the system is actively switched to the slope sliding control unit;
the fourth step: and the torque estimation unit is used for calculating the current torque, when the torque is smaller than a preset threshold value, the system considers that the vehicle is on the flat ground, the system actively exits the slope slipping state, the vehicle stops on the flat ground, the torque is smaller than the preset threshold value, and the system returns to the normal working mode.
The torque estimation unit mainly works to calculate the current electromagnetic torque of the motor through a formula.
The speed detection unit is mainly used for realizing speed setting input through a pedal in engineering, wherein the speed command of a driver is input by the driver.
The third step is as follows: when the electric braking time of the vehicle exceeds the slope parking time, the system is actively switched to the slope sliding control unit; the system actively and slowly drives to the flat ground according to the direction of the current torque and the pre-designed slope-sliding rotating speed.
Has the positive and beneficial effects that: the invention is finished by braking when entering the slope-holding procedure, and does not need an external trigger signal; when entering the hill-holding program, the rotating speed of the motor is set to be 0. The motor controller controls the motor to be static in a closed-loop mode and is automatically suitable for different slopes. Thus, different PI tables can be calibrated without different ramps; the method has the advantages that the slope-staying time setting item is added, so that a user can conveniently and automatically set the slope-staying time under the safe condition; the invention increases the slope slipping speed setting item, and is stable and safe in the slope slipping process through the speed closed loop.
Drawings
FIG. 1 is a flow chart of a prior art control method;
FIG. 2 is a block diagram of a control system flow of the present invention;
FIG. 3 is a graph of force analysis according to an embodiment of the present invention;
FIG. 4 is a main flow block diagram of the hill-holding control unit of the present invention;
fig. 5 is a main flow block diagram of the hill-drop control unit of the present invention.
Detailed Description
The invention is further described with reference to the following drawings and examples:
as shown in fig. 1, a comprehensive control system for slope parking and slope slipping suitable for an electric forklift comprises the following specific steps:
the first step is as follows: when the speed detection unit detects that the speed of the vehicle is zero, the torque estimation unit calculates the current torque;
the second step is that: when the torque is greater than a set threshold value, triggering a hill-holding control unit, and stopping the vehicle on a hill by electric braking of a motor;
the third step: when the electric braking time of the vehicle exceeds the slope parking time, the system is actively switched to the slope sliding control unit; the system actively drives the vehicle to the flat ground slowly according to the direction of the current torque and the pre-designed slope sliding rotating speed;
the fourth step: and the torque estimation unit is used for calculating the current torque, when the torque is smaller than a preset threshold value, the system considers that the vehicle is on the flat ground, the system actively exits the slope slipping state, the vehicle stops on the flat ground, the torque is smaller than the preset threshold value, and the system returns to the normal working mode.
Examples
As shown in FIG. 3, the vehicle is influenced by gravity Fg on the slope, the force is decomposed into F1 parallel to the slope and F2 vertical to the slope, wherein F1 forces the vehicle to move downwards, the magnitude of F2 influences the magnitude of the friction force Ff, and the influence of wind resistance and the like is ignored. Since the gravity of the vehicle body is large, F1 in the system is often far greater than Ff, and the vehicle is known to slide down on a slope through the Newton's mechanics principle. At this time, an Ft acting force is needed to overcome the vehicle gliding; in the electric vehicle, the braking force of the brake can be used, and the electromagnetic force of the motor can also be used; the electromagnetic torque of the motor is used in the application to overcome the force of the slip; the electromagnetic force of the motor F = Te R; wherein R Is the radius of action of the force, e = K Ψ R Is; k Is a parameter related to the motor body, a rotor magnetic field under an optional psi r coordinate system, and a stator current under an optional Is coordinate system, and the current torque condition of the motor can be obtained through a certain coordinate transformation through a sensor of the controller.
The torque estimation unit mainly works to calculate the current electromagnetic torque of the motor through a formula.
2. The speed detection unit is mainly used for realizing speed setting input through a pedal in engineering, and the speed detection unit is mainly used for realizing speed instruction of a driver and driver input.
As shown in fig. 4, the hill-holding detection unit detects that the driver's speed is given and detects the torque of the motor, and when the torque is larger than a set threshold value, the vehicle speed is given as 0, and marks that the vehicle enters the hill-holding state. And meanwhile, entering the slope parking time, and automatically switching to a slope slipping program when the slope parking time is larger than a set value.
As shown in fig. 5, the hill-fall control means detects the torque at the time of hill-fall, and when the torque is smaller than a threshold value, the vehicle is considered to be on the flat ground, the vehicle is set to a constant speed, and the vehicle is stopped. The vehicle speed of whether the vehicle is rolling down the slope is different according to the direction of the motor torque.
1. The application is finished by braking when entering a slope-retaining program, and an external trigger signal is not needed; the system detects the speed command of a driver and the current electromagnetic torque of the motor; braking determines whether the vehicle has entered the hill-holding routine (conditions indicated in step one). Acceleration signals do not need to be calculated, the flow is simplified, and the reliability of the system is improved;
2. when entering a slope-parking program, setting the rotating speed of the motor to be 0; the motor controller controls the motor to be static in a closed loop mode, and the motor controller is automatically adaptive to different ramps, so that different ramps can be avoided, and different PI tables can be calibrated.
3. The motor can generate heat seriously due to the fact that the motor is used for a long time and is parked on a slope. This patent has increased the stay slope time setting item, and convenience of customers independently sets for stay slope time under the safe condition. During this period, the vehicle remains stationary; when the time is over, the system automatically enters a slope slipping program.
4. In the hill-drop procedure, the current patent uses torque control. While different ramps correspond to different torques. Even if a speed hysteresis is added, the situation that the vehicle slides down a slope at unstable speed, the speed is slow and the driving experience is poor can be caused in the process of sliding down the slope. According to the scheme, the slope slipping speed is increased, and the speed is closed loop, so that the slope slipping process is stable and safe.
5. When the vehicle returns to the flat ground, the torque will naturally decrease and the system will automatically detect it. Setting the speed to 0 and stopping the controller output; thus, the vehicle can be safely stopped on the flat ground and await the instruction of the driver.
6. The system is performed in a fully automatic process, manual intervention is not needed, meanwhile, the engineering debugging time is greatly shortened, and the system is convenient and feasible.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (1)
1. The utility model provides a stay slope swift current slope integrated control system suitable for electric fork-lift, its characterized in that: the device comprises a speed detection unit, a torque estimation unit, a slope parking detection unit, a slope parking control unit, a slope sliding control unit and a slope sliding exit unit which are related through signals;
the integrated control system for slope parking and slope slipping suitable for the electric forklift comprises the following specific control steps:
the first step is as follows: when the speed detection unit detects that the speed of the vehicle is zero, the torque estimation unit calculates the current torque, and the speed detection unit realizes speed given input by a driver through a pedal;
the second step is that: the hill-holding detection unit detects the given speed of a driver and detects the torque of a motor, and when the torque is greater than a set threshold value, the hill-holding control unit is triggered; the slope-parking control unit controls the motor to be static through the electric braking of the motor, namely a motor controller is in closed-loop control, so that the vehicle automatically adapts to different slopes, the vehicle is marked to enter a slope-parking state, and meanwhile the slope-parking time is counted;
the third step: when the electric braking time of the vehicle exceeds the slope-parking time, the system is actively switched to a slope-sliding control unit, and the system actively performs speed closed-loop control according to the current torque direction and the pre-designed slope-sliding speed, so that the vehicle is stable and safe in the slope-sliding process;
the fourth step: the torque estimation unit calculates the current torque, when the torque is smaller than a pre-designed threshold value, the vehicle is considered to be on the flat ground, the system actively quits the slope slipping state through the slope slipping quit unit, and when the vehicle stops on the flat ground and the torque is smaller than the pre-designed threshold value, the system returns to a normal working mode to wait for the instruction of a driver; the torque estimation unit calculates the current electromagnetic torque of the motor through a formula.
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| CN113059999B (en) * | 2019-12-30 | 2023-11-10 | 上汽通用五菱汽车股份有限公司 | Electric automobile motor locked-rotor protection method |
| CN111086399B (en) * | 2019-12-30 | 2021-08-24 | 深圳市蓝海华腾技术股份有限公司 | Vehicle, and vehicle slope-parking control method and system |
| CN111061279B (en) * | 2020-01-03 | 2020-12-08 | 山东大学 | Indoor self-adaptive cruise control system and method for electric sickbed |
| CN113724500B (en) * | 2020-05-25 | 2022-10-04 | 中国石油化工股份有限公司 | Forklift ramp illegal driving early warning method and system |
| CN112265544B (en) * | 2020-11-06 | 2022-03-01 | 江铃汽车股份有限公司 | New energy automobile slope-sliding prevention auxiliary control method |
| CN113267350B (en) * | 2021-05-25 | 2022-05-10 | 安徽合力股份有限公司 | Hybrid power forklift climbing performance evaluation method |
| CN114211971B (en) * | 2021-12-20 | 2023-12-22 | 河南嘉晨智能控制股份有限公司 | Method suitable for electric fork truck to smooth slope |
| CN115892010A (en) * | 2022-11-23 | 2023-04-04 | 安徽合力股份有限公司 | Control method and control system for preventing forklift from sliding down slope during starting and automatically parking forklift |
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Address after: 450000 No.99 Jingbei 6th Road, Zhengzhou Economic and Technological Development Zone, Henan Province Applicant after: Henan Jiachen Intelligent Control Co.,Ltd. Address before: 450000 No.99 Jingbei 6th Road, Zhengzhou Economic and Technological Development Zone, Henan Province Applicant before: ZHENGZHOU JIACHEN ELECTRIC Co.,Ltd. |
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