CN112455418A - Automatic driving energy-saving auxiliary system of diesel fork lift truck and control method thereof - Google Patents
Automatic driving energy-saving auxiliary system of diesel fork lift truck and control method thereof Download PDFInfo
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- 230000005540 biological transmission Effects 0.000 claims description 24
- 230000001133 acceleration Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000005484 gravity Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 239000000295 fuel oil Substances 0.000 claims description 4
- 239000000446 fuel Substances 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 abstract description 4
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000004134 energy conservation Methods 0.000 abstract description 2
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- 238000002485 combustion reaction Methods 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
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- 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
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- 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
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- 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
- B66F9/22—Hydraulic devices or systems
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mathematical Physics (AREA)
- Physics & Mathematics (AREA)
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- Forklifts And Lifting Vehicles (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses an automatic driving energy-saving auxiliary system of a diesel fork truck and a control method thereof, belonging to the technical field of energy conservation of fork trucks. The invention has the beneficial effects that: the sensor detects the change of the speed and the external load in real time, and transmits a detection signal to the central control unit, the central control unit divides the running working condition state of the forklift into four types of advancing, retreating, goods lifting and goods descending according to the signal, different engine output modes are adopted according to the running working condition, the overall power requirement of the forklift is comprehensively considered, the energy waste is avoided, and the efficiency is higher.
Description
Technical Field
The invention belongs to the technical field of energy conservation of forklifts, and particularly relates to an automatic driving energy-saving auxiliary system of an internal combustion forklift and a control method thereof.
Background
The forklift is an industrial transportation vehicle, is applied to places such as ports, stations, factory workshops and distribution centers, and can enter cabins, carriages and containers to carry out loading, unloading and transportation operations of pallet goods. The user mainly wants to achieve the maximum working efficiency with the minimum use cost when selecting and purchasing the forklift, so that the reduction of the fuel consumption of the forklift in the work is of great significance. The forklift has the characteristics of frequent lifting and descending, frequent starting and stopping and large load carrying quality in the operation process.
In the prior art, the power and rotating speed output of an engine is mainly based on power matching among power transmission systems or the power requirement of a hydraulic system, and the overall power consumption of the forklift is not comprehensively considered. The power and torque requirements of the engine of the forklift under different working conditions are greatly different. The universal characteristic and the speed regulation characteristic of the engine are known, the engine corresponds to the optimal energy-saving working point and the maximum power point under each working condition, the power requirement of the whole forklift is changed greatly due to the variability of the working conditions of the forklift, the whole power consumption of the forklift engine in the prior art is not comprehensively considered in combination with different operating conditions, the engine deviates from the optimal energy-saving point and the maximum power point frequently, the output of the engine is not matched with a power transmission system and a hydraulic system, the energy loss is caused, and the oil consumption and the emission are increased.
Disclosure of Invention
The invention provides an automatic driving energy-saving auxiliary system of an internal combustion forklift truck, which aims to solve the problems that the whole power consumption of the forklift truck is not comprehensively considered in combination with different operation conditions, the output of an engine deviates from an optimal energy-saving point and a maximum power point frequently, the output of the engine is not matched with a power transmission system and a hydraulic system, the energy loss is caused, and the oil consumption and the emission are increased.
Preferably, the input end of the engine is connected with the output end of the central control unit through a rotating speed adjusting device.
Preferably, the forklift further comprises a transmission system for controlling the forklift to move forwards and backwards and a hydraulic system for controlling the forklift to lift, and the input end of the transmission system and the input end of the hydraulic system are connected with the output end of the engine.
Preferably, the output end of the hydraulic system is connected with the input end of the pressure sensor; the output end of the transmission system is connected with the input end of the vehicle speed sensor, and the input end of the rotating speed sensor is connected with the output end of the engine.
Preferably, the input end of the central control unit is provided with a parameter setting port for setting parameters.
Preferably, the central control unit controls the power of the engine to be obtained by two formulas according to different working conditions, wherein the power balance formula of the forward and backward working conditions of the forklift is as follows:
in the formula: p is the power required by the forklift in running; etatFor transmission system efficiency; m is the mass of the whole vehicle; g is the acceleration of gravity; f is a rolling resistance coefficient; i is the road slope; c is a wind resistance coefficient; a is the windward area; delta is a rotating mass conversion coefficient;
is the acceleration; v is the vehicle speed;
when the forklift is in a lifting working condition, the power required to be provided by the hydraulic system is
In the formula: p1The power required by the hydraulic pump during load lifting; m is2Is the load mass; m is3The quality of the goods shelf fork; m is4Is an inner doorA rack mass; v. of3The lifting speed is set; eta2To improve the efficiency of the system.
The invention also provides a control method of the automatic driving energy-saving auxiliary system of the diesel fork truck, which comprises the following steps:
firstly, a vehicle speed sensor arranged on a wheel collects a vehicle speed signal, a pressure sensor measures the hydraulic pressure of a hydraulic system of a forklift, and a rotating speed sensor detects the rotating speed of an engine and respectively transmits the signal to a central control unit;
step two, the central control unit identifies the operation working condition of the forklift and obtains the output power of the engine according to the fuel oil energy-saving scheme formulated under different working condition conditions;
and step three, according to the equivalent function curve corresponding to the output power of the engine, finding the most oil-saving point by contrasting with the universal characteristic curve of the engine, determining the rotating speed and the torque of the engine, and transmitting a signal to the engine.
Preferably, the fuel oil energy-saving scheme is obtained by adopting two formulas according to different working conditions, wherein the power balance formula of the forward and backward working conditions of the forklift is as follows:
in the formula: p is the power required by the forklift in running; etatFor transmission system efficiency; m is the mass of the whole vehicle; g is the acceleration of gravity; f is a rolling resistance coefficient; i is the road slope; c is a wind resistance coefficient; a is the windward area; delta is a rotating mass conversion coefficient;
is the acceleration; v is the vehicle speed;
when the forklift is in a lifting working condition, the power required to be provided by the hydraulic system is
In the formula: p1Lifting liquid for loadPower required by the pressure pump; m is2Is the load mass; m is3The quality of the goods shelf fork; m is4The mass of the inner gantry; v. of3The lifting speed is set; eta2To improve the efficiency of the system.
Preferably, in the third step, the rotating speed PID closed-loop control adjustment is performed according to the current actual rotating speed fed back by the engine rotating speed sensor.
Therefore, the internal combustion forklift can realize the following by arranging the automatic driving energy-saving auxiliary system of the internal combustion forklift, which is disclosed by the invention: during the running and operation of the forklift, the sensor detects the change of the speed and the external load in real time and transmits a detection signal to the central control unit, the central control unit divides the running working condition state of the forklift into four types of forward, backward, goods lifting and goods descending according to the signal, and the central control unit adjusts the rotating speed and the output power mode of the engine according to different running states, wherein the forward and goods lifting working conditions are a medium and heavy load mode, and the goods descending and backward working conditions are a light load mode; when the forklift is detected to be in a running state, the central control unit calculates the rotating speed of the engine according to the matching between the engine and the transmission system and the load pressure according to the optimal oil consumption curve of the engine; when the forklift is detected to be in a cargo lifting and descending working condition, the central control unit calculates the rotating speed of the engine according to the matching relation between the load pressure and the engine power according to the optimal oil consumption curve of the engine and the working condition of the system; the central control unit sends a signal to the rotating speed adjusting device, the rotating speed adjusting device directly acts on an accelerator of the engine so as to control the rotating speed of the engine, and PID closed-loop control and regulation are carried out on the rotating speed according to the current actual rotating speed fed back by the rotating speed sensor of the engine, so that the rotating speed is consistent with the set rotating speed; under different working conditions, the engine works in a rotating speed range with an outstanding energy-saving effect through reasonable matching among the engine, the transmission system and the hydraulic system, the power utilization rate and the overall efficiency are improved, and a better energy-saving effect is achieved.
Has the advantages that:
the technical scheme of the invention has the following beneficial effects:
(1) the sensor detects the change of the vehicle speed and the external load in real time and transmits a detection signal to the central control unit, the central control unit divides the running working condition state of the forklift into four modes of forward movement, backward movement, goods lifting and goods descending according to the signal, and the central control unit adjusts the rotating speed and the output power mode of the engine according to different running states, so that the overall power requirement of the forklift is comprehensively considered, the energy waste is avoided, and the efficiency is higher; different engine output power modes can ensure the energy requirements of the forklift on working conditions of forward movement and goods lifting, and the energy consumption is saved under the working conditions of low energy requirements of goods descending and backward movement.
(2) Under different working conditions, the engine, the transmission system and the hydraulic system are reasonably matched, so that the conditions of high power and low load during no-load or low load are avoided, the engine works in a rotating speed range with a remarkable energy-saving effect, the power utilization rate and the overall efficiency are improved, and a better energy-saving effect is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of the automatic driving energy-saving auxiliary system of the diesel fork lift truck.
In the figure:
1-a central control unit; 2-an engine; 3-vehicle speed sensor;
4-a rotational speed sensor; 5-a pressure sensor; 6-a rotation speed adjusting device;
7-a transmission system; 8-a hydraulic system; 9-parameter setting port.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in FIG. 1, the invention provides an automatic driving energy-saving auxiliary system of a diesel fork lift truck, which comprises a central control unit 1, an engine 2, a vehicle speed sensor 3, a rotating speed sensor 4 and a pressure sensor 5, wherein the vehicle speed sensor 3, the rotating speed sensor 4 and the pressure sensor 5 are connected with the input end of the central control unit 1, and the input end of the engine 2 is connected with the output end of the central control unit 1.
In a preferred embodiment, the input of the engine 2 is connected to the output of the central control unit 1 via a rotational speed control device 6.
As a preferred embodiment, the system also comprises a transmission system 7 for controlling the forward and backward movement of the forklift and a hydraulic system 8 for controlling the lifting of the forklift, wherein the input end of the transmission system 7 and the input end of the hydraulic system 8 are connected with the output end of the engine 2.
In a preferred embodiment, the output end of the hydraulic system 8 is connected with the input end of the pressure sensor 5; the output end of the transmission system 7 is connected with the input end of the vehicle speed sensor 3, and the input end of the rotating speed sensor 4 is connected with the output end of the engine 2.
As a preferred embodiment, the input end of the central control unit 1 is provided with a parameter setting port 9 for setting parameters.
As a preferred embodiment, the power of the engine 2 controlled by the central control unit 1 is obtained by using two formulas according to different working conditions, wherein the power balance formula of the forward and backward working conditions of the forklift is as follows:
in the formula: p is the power required by the forklift in running; etatFor transmission system efficiency; m is the mass of the whole vehicle; g is the acceleration of gravity; f is a rolling resistance coefficient; i is the road slope; c is a wind resistance coefficient; a is the windward area; delta is a rotating mass conversion coefficient;
is the acceleration; v is the vehicle speed;
when the forklift is in the lifting working condition, the hydraulic system 8 needs to provide power of
In the formula: p1The power required by the hydraulic pump during load lifting; m is2Is the load mass; m is3The quality of the goods shelf fork; m is4The mass of the inner gantry; v. of3The lifting speed is set; eta2To improve the efficiency of the system.
The embodiment also provides a control method of the automatic driving energy-saving auxiliary system of the diesel fork lift truck, which comprises the following steps:
firstly, a vehicle speed sensor 3 arranged on a wheel collects a vehicle speed signal, a pressure sensor 5 measures the hydraulic pressure of a forklift hydraulic system 8, a rotating speed sensor 4 detects the rotating speed of an engine 2 and respectively transmits the signal to a central control unit 1;
step two, the central control unit 1 identifies the operation working condition of the forklift and obtains the output power of the engine 2 according to the fuel oil energy-saving scheme formulated under different working condition conditions;
and step three, according to the equivalent function curve corresponding to the output power of the engine 2, finding the most oil-saving point by contrasting the universal characteristic curve of the engine 2, determining the rotating speed and the torque of the engine 2, and transmitting a signal to the engine 2.
As a preferred embodiment, the fuel energy-saving scheme is obtained by adopting two formulas according to different working conditions, wherein the power balance formula of the forward and backward working conditions of the forklift is as follows:
in the formula: p is the power required by the forklift in running; etatFor transmission system efficiency; m is the mass of the whole vehicle; g is the acceleration of gravity; f is a rolling resistance coefficient; i is the road slope; c is a wind resistance coefficient; a is the windward area; delta is a rotating mass conversion coefficient;
is the acceleration; v is the vehicle speed;
when the forklift is in the lifting working condition, the hydraulic system 8 needs to provide power of
In the formula: p1The power required by the hydraulic pump during load lifting; m is2Is the load mass; m is3The quality of the goods shelf fork; m is4The mass of the inner gantry; v. of3The lifting speed is set; eta2To improve the efficiency of the system.
In a preferred embodiment, in step three, the rotating speed PID closed loop control is adjusted according to the current actual rotating speed fed back by the rotating speed sensor 4 of the engine 2.
Therefore, the internal combustion forklift can realize the following by arranging the automatic driving energy-saving auxiliary system of the internal combustion forklift, which is disclosed by the invention: in the running and operation processes of the forklift, a sensor detects the change of the speed and the external load in real time and transmits a detection signal to a central control unit 1, the central control unit 1 divides the running working condition state of the forklift into four modes of forward, backward, goods lifting and goods descending according to the signal, and the rotating speed and the output power mode of an engine 2 are adjusted through the central control unit 1 according to different running states, wherein the forward and goods lifting working conditions are a medium and heavy load mode, and the goods descending and backward working conditions are a light load mode; when the forklift is detected to be in a running state, the central control unit 1 calculates the rotating speed of the engine 2 according to the matching between the engine 2 and the transmission system 7 and the load pressure according to the optimal oil consumption curve of the engine 2; when the forklift is detected to be in a cargo lifting and descending working condition, the central control unit 1 calculates the rotating speed of the engine 2 according to the matching relation between the load pressure and the power of the engine 2 according to the optimal oil consumption curve of the engine 2 and the working condition of the system; the central control unit 1 sends a signal to a rotating speed adjusting device 6, the rotating speed adjusting device 6 directly acts on an accelerator of the engine 2 so as to control the rotating speed of the engine 2, and PID closed-loop control and regulation are carried out on the rotating speed according to the current actual rotating speed fed back by a rotating speed sensor 4 of the engine 2, so that the rotating speed is consistent with the set rotating speed; under different working conditions, the engine 2 works in a rotating speed range with a remarkable energy-saving effect through reasonable matching among the engine 2, the transmission system 7 and the hydraulic system 8, the power utilization rate and the overall efficiency are improved, and a better energy-saving effect is achieved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides an energy-conserving auxiliary system of diesel fork truck autopilot, its characterized in that includes central control unit, engine, speed sensor and pressure sensor, speed sensor pressure sensor with central control unit input links to each other, the engine input with the central control unit output links to each other.
2. The automatic driving energy-saving auxiliary system for the diesel fork lift truck as claimed in claim 1, wherein the input end of the engine is connected with the output end of the central control unit through a rotating speed adjusting device.
3. The automatic driving energy-saving auxiliary system for the diesel fork lift truck as claimed in claim 2, further comprising a transmission system for controlling the forward and backward movement of the fork lift truck and a hydraulic system for controlling the lifting of the fork lift truck, wherein the input end of the transmission system and the input end of the hydraulic system are connected with the output end of the engine.
4. The automatic driving energy-saving auxiliary system for the diesel fork lift truck as claimed in claim 3, wherein the output end of the hydraulic system is connected with the input end of the pressure sensor; the output end of the transmission system is connected with the input end of the vehicle speed sensor, and the input end of the rotating speed sensor is connected with the output end of the engine.
5. The automatic driving energy-saving auxiliary system for the diesel fork lift truck as claimed in claim 4, wherein the input end of the central control unit is provided with a parameter setting port for setting parameters.
6. The automatic driving energy-saving auxiliary system for the diesel fork lift truck as claimed in claim 5, wherein the power of the engine controlled by the central control unit is obtained by adopting two formulas according to different working conditions, wherein the power balance formula of the forward and backward working conditions of the fork lift truck is as follows:
in the formula: p is the power required by the forklift in running; etatFor transmission system efficiency; m is the mass of the whole vehicle; g is the acceleration of gravity; f is a rolling resistance coefficient; i is the road slope; c is a wind resistance coefficient; a is the windward area; delta is a rotating mass conversion coefficient;
is the acceleration; v is the vehicle speed;
when the forklift is in a lifting working condition, the power required to be provided by the hydraulic system is
In the formula: p1The power required by the hydraulic pump during load lifting; m is2Is the load mass; m is3The quality of the goods shelf fork; m is4The mass of the inner gantry; v. of3The lifting speed is set; eta2To improve the efficiency of the system.
7. A control method of an automatic driving energy-saving auxiliary system of a diesel fork truck is characterized by comprising the following steps:
firstly, a vehicle speed sensor arranged on a wheel collects a vehicle speed signal, a pressure sensor measures the hydraulic pressure of a hydraulic system of a forklift, and a rotating speed sensor detects the rotating speed of an engine and respectively transmits the signal to a central control unit;
step two, the central control unit identifies the operation working condition of the forklift and obtains the output power of the engine according to the fuel oil energy-saving scheme formulated under different working condition conditions;
and step three, according to the equivalent function curve corresponding to the output power of the engine, finding the most oil-saving point by contrasting with the universal characteristic curve of the engine, determining the rotating speed and the torque of the engine, and transmitting a signal to the engine.
8. The automatic driving energy-saving auxiliary system for the diesel fork lift truck as claimed in claim 7, wherein the fuel energy-saving scheme is obtained by adopting two formulas according to different working conditions, wherein the power balance formula of the forward and backward working conditions of the fork lift truck is as follows:
in the formula: p is the power required by the forklift in running; etatFor transmission system efficiency; m is the mass of the whole vehicle; g is the acceleration of gravity; f is a rolling resistance coefficient; i is the road slope; c is a wind resistance coefficient; a is the windward area; delta is a rotating mass conversion coefficient;
is the acceleration; v is the vehicle speed;
when the forklift is in a lifting working condition, the power required to be provided by the hydraulic system is
In the formula: p1The power required by the hydraulic pump during load lifting; m is2Is the load mass; m is3The quality of the goods shelf fork; m is4The mass of the inner gantry; v. of3The lifting speed is set; eta2To improve the efficiency of the system.
9. The automatic driving energy-saving auxiliary system for the diesel fork lift truck as claimed in claim 8, wherein in the third step, the PID closed-loop control adjustment of the rotation speed is performed according to the current actual rotation speed fed back by the engine rotation speed sensor.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115750310A (en) * | 2021-09-03 | 2023-03-07 | 林德（中国）叉车有限公司 | Forklift hydraulic pump motor rotation speed control method and control device and forklift |
| WO2024108983A1 (en) * | 2022-11-23 | 2024-05-30 | 安徽合力股份有限公司 | Forklift starting anti-rollback control method, forklift automatic parking control method and forklift control system |
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| WO2024108983A1 (en) * | 2022-11-23 | 2024-05-30 | 安徽合力股份有限公司 | Forklift starting anti-rollback control method, forklift automatic parking control method and forklift control system |
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Application publication date: 20210309 |