EP3214035B1 - Method for operating an industrial truck - Google Patents

Method for operating an industrial truck Download PDF

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Publication number
EP3214035B1
EP3214035B1 EP17156457.8A EP17156457A EP3214035B1 EP 3214035 B1 EP3214035 B1 EP 3214035B1 EP 17156457 A EP17156457 A EP 17156457A EP 3214035 B1 EP3214035 B1 EP 3214035B1
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EP
European Patent Office
Prior art keywords
steering
motor
control
speed
drive
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EP17156457.8A
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German (de)
French (fr)
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EP3214035A1 (en
Inventor
Jörg Ziemann
Kai Kuschel
Thomas Luckmann
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Jungheinrich AG
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Jungheinrich AG
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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
    • B66F9/07568—Steering arrangements

Definitions

  • the invention relates to a method for operating an industrial truck according to claim 1.
  • the drive motor is assigned a control or regulating device. If the traction motor is electric, an electrical or electronic control or regulating device is provided.
  • Most trucks also have at least one steered wheel operated by a suitable steering device.
  • the steering device operates either mechanically, for example by means of a drawbar, which operates a wheel supporting the turntable. Larger trucks have a steering motor for the steering. This can also be operated by a drawbar or by a steering wheel. In both cases, a steering member generates a steering command for a control device for the steering motor.
  • the steering motor is usually electric, but can also be designed hydraulically.
  • the wheel to be steered the truck must also be steerable in the state, for example when the driver does not operate the accelerator pedal. In this case, the wheel turns in place on the spot and rubs on the ground. The result is high steering torque, for which the steering drive must be designed.
  • the steering drive In a mechanical steering, the user must spend a high steering force. In a steering motor, the steering torque must be generated by this. The engine is therefore large and requires a lot of energy. Also, the transmission components (gears, bolts, etc.) must be designed accordingly.
  • steering drives are oversized for normal operation.
  • the invention has for its object to provide a method for operating a truck, in which the steering torque is reduced for a wheel to be steered while avoiding unnecessary wear due to abrasion on the steered wheel.
  • a drive command is generated for the control device and the traction motor drives the truck at a speed much slower than the normal travel speed for a limited period of time, a limited travel distance or the duration of a steering movement of the steering device equivalent.
  • the method according to the invention makes it possible to significantly reduce the steering torque when the truck comes to a standstill, because the vehicle is moved slightly forward during the steering movement.
  • the wheel to be steered When the vehicle is at a standstill, the wheel to be steered generates a not insignificant amount during a steering movement Friction due to so-called stiction.
  • the friction is significantly reduced when the wheel to be steered rolls on the ground. This movement needs only to be minimal and only to stop as long as a steering movement is performed.
  • the driving speed used in the method according to the invention is equal to or less than 0.1 km / h or 0.03 m / s. It is therefore minimal compared to the usual driving speeds.
  • the steering device comprises a sensor which generates a signal when the steering device is actuated.
  • the signal of the sensor is given as a drive command to the control and / or regulating device for the traction motor.
  • the drive motor is only put into operation if it was previously at a standstill.
  • the invention provides that the steering motor is actuated by a control and regulating device, which in turn is actuated by a steering signal of a steering member and the steering signal of the steering member or the control or regulating device of the steering motor in parallel as a move command to the control or Control device of the traction motor is given.
  • the steering signal of the steering member or the control signal for the steering motor is used as a control command or driving command for the traction motor.
  • the current consumption or power consumption of the steering motor is measured and a drive command for the control or regulating device of the drive motor is generated when the power consumption or power consumption is greater than zero.
  • a steering command from the steering member for the steering motor naturally leads to a relatively high power or power consumption of the steering motor. This can be suitably detected and used for a drive command for the control and regulating device of the drive motor.
  • the driving speed is regulated as a function of the steering angle speed or the steering angle change speed.
  • the steering angle setpoint specified by the steering element preferably the steering angle setpoint specified by the steering element, the rotational angular velocity of the steering element and the actual value of the angular velocity of the steered wheel are included.
  • angular velocity here is not the rotation of the steered wheel meant, but the chosen steering angle.
  • steering systems equipped with a steering motor are slightly decelerating, especially with fast turns on the steering element. Due to this delay, the control device for the drive motor has sufficient time to activate this.
  • a direction of travel is preselected, this is used. If none is preselected, may be in the control or Regulating device for the drive motor a predetermined direction be programmed.
  • Another embodiment of the inventive method provides that the steering axis of the steered wheel is offset from the center of the footprint by a radius, the speed of the truck depending on the steering angular velocity and the radius regulated and the direction of travel is set so that they are in the direction the center of the footprint lies.
  • the vehicle When the drive wheel or the drive wheels of the truck are controlled in the propulsion in dependence on the steering angular velocity and the radius of the offset of the steering axis, the vehicle does not move forward from the site.
  • the limited time corresponds to the duration of the steering movement.
  • the steering axle does not have to be outside the contact area, it is sufficient if it is located to the side of the center of the footprint in their area.
  • the inventive method is applicable both for trucks with electric steering and with or without power steering.
  • a waiver of electric steering or steering assistance is also possible with slightly larger drawbar-steered trucks.
  • a smaller dimensioning for large drawbar-steered trucks or trucks with steering wheel steering is possible.
  • FIG. 1 Diagram shown corresponds to the method according to the invention in a mechanical steering of the steered wheel of a truck.
  • the beginning of a steering movement is sensed by a suitable sensor, for example on the drawbar of the truck.
  • the control or regulating device for a traction motor of the truck is determined in this case, whether the driving speed is greater than or equal to zero. If the driving speed is greater than zero, this corresponds to a normal driving operation. However, if it is not greater than zero, a direction of travel is selected or not and it follows a control of the traction motor in the programmed or selected direction of travel at a very low speed over a period corresponding, for example, the duration of the steering movement of the steering device. This results in a pivoting of the steered wheel in slowly mecanicieredem vehicle and thus not in the state, whereby the steering torque is drastically reduced.
  • the vehicle moves when the drive motor is not actuated, for example, rolls out or rolls down a slope. Also in this case, the use of the method according to the invention is obsolete. In this case, it is then only necessary to ascertain whether a drive command for the drive motor is present. Only when this is not present, the traction motor can be set at low speed in motion.
  • the steering signal of a steering member represents the sensed signal and the steering motor control signal generated by the steering motor control apparatus. This signal is in turn applied to the control device for Given the traction motor and if it is determined that the speed is greater than zero, the traction motor can be controlled accordingly in the selected direction of travel in normal operation. However, if the driving speed is zero, the steering motor is actuated with control of the traction motor. After preselection of the direction of travel is a control of the steering motor and the drive motor. But according to Fig. 3 possibly by means of a regulation of the speed of the steering motor.
  • the target value for the steering angle is greater than its actual value, it is checked whether the motor current of the steering motor is too high. If this is not the case, driving speed and steering movement are maintained. If the motor current of the steering motor is too high, the driving speed is increased up to a limit, which, as mentioned, is well below the normal driving speed. According to this scheme, it is therefore possible to control the speed of the traction motor with non-external control by a user and adapt to the steering movement.
  • the steering axle can lie inside or outside the footprint. This is not shown in the figures. If a rotation of the steered wheel, the drive train of the traction drive is sufficient, which is necessary at a certain steering angle to move the vehicle. If the drive is controlled so that the driving speed is dependent on the steering angle speed and the radius between the steering axis and center, the vehicle does not need to move forward to act in terms of reduced steering force. The vehicle does not move forward, although the traction drive sets the driven wheel in motion. It is understood that in this case the direction of travel can not be chosen arbitrarily, but must be selected in the same direction in which moves the center of the footprint.

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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)
  • Steering Control In Accordance With Driving Conditions (AREA)

Description

Die Erfindung bezieht sich auf ein Verfahren zum Betrieb eines Flurförderzeugs nach Anspruch 1.The invention relates to a method for operating an industrial truck according to claim 1.

Viele Ausführungen von Flurförderzeugen sind mit einem Fahrantrieb versehen. Mit einem vom Fahrer betätigten Bedienelement wird die Fahrgeschwindigkeit vorgegeben. Üblicherweise ist dem Fahrmotor eine Steuer- oder Regelvorrichtung zugeordnet. Ist der Fahrmotor elektrisch, ist eine elektrische oder elektronische Steuer- oder Regelvorrichtung vorgesehen. Die meisten Flurförderzeuge weisen auch mindestens ein gelenktes Rad auf, das von einer geeigneten Lenkvorrichtung betätigt wird. Die Lenkvorrichtung arbeitet entweder mechanisch, beispielsweise mit Hilfe einer Deichsel, die einen das Rad lagernden Drehschemel betätigt. Größere Flurförderzeuge weisen für die Lenkung einen Lenkmotor auf. Auch dieser kann von einer Deichsel betätigt werden oder von einem Lenkrad. In beiden Fällen erzeugt ein Lenkorgan einen Lenkbefehl für eine Steuer- oder Regelvorrichtung für den Lenkmotor. Der Lenkmotor ist zumeist elektrisch, kann jedoch auch hydraulisch ausgeführt sein.Many models of industrial trucks are equipped with a travel drive. With a driver-operated control element, the driving speed is specified. Usually, the drive motor is assigned a control or regulating device. If the traction motor is electric, an electrical or electronic control or regulating device is provided. Most trucks also have at least one steered wheel operated by a suitable steering device. The steering device operates either mechanically, for example by means of a drawbar, which operates a wheel supporting the turntable. Larger trucks have a steering motor for the steering. This can also be operated by a drawbar or by a steering wheel. In both cases, a steering member generates a steering command for a control device for the steering motor. The steering motor is usually electric, but can also be designed hydraulically.

Das zu lenkende Rad des Flurförderzeugs muss auch im Stand lenkbar sein, z.B. wenn der Fahrer das Fahrpedal nicht betätigt. In diesem Fall dreht das Rad im Stand auf der Stelle und reibt so auf dem Boden. Es entstehen hohe Lenkmomente, für die der Lenkantrieb ausgelegt sein muss. Bei einer mechanischen Lenkung muss der Benutzer eine hohe Lenkkraft aufwenden. Bei einem Lenkmotor muss das Lenkmoment von diesem erzeugt werden. Der Motor ist dadurch groß und benötigt viel Energie. Auch die Übertragungsbauteile (Zahnräder, Bolzen usw.) müssen entsprechend ausgelegt sein. Somit sind Lenkantriebe für den normalen Betrieb überdimensioniert.The wheel to be steered the truck must also be steerable in the state, for example when the driver does not operate the accelerator pedal. In this case, the wheel turns in place on the spot and rubs on the ground. The result is high steering torque, for which the steering drive must be designed. In a mechanical steering, the user must spend a high steering force. In a steering motor, the steering torque must be generated by this. The engine is therefore large and requires a lot of energy. Also, the transmission components (gears, bolts, etc.) must be designed accordingly. Thus, steering drives are oversized for normal operation.

Aus DE 10 2004 003 886 A1 ist bekannt geworden, ein Verfahren zum Bemessen der Bremskraft an den lenkbaren Vorderrädern eines im Wesentlichen stillstehenden Kraftfahrzeugs bekannt geworden. Dort wird eine Reduzierung der Lenkkräfte beim Parken vorgeschlagen, indem die gelenkten Räder durch eine pulsierende Bremskraft nur kurzzeitig blockiert und dazwischen kurzzeitig freigegeben werden.Out DE 10 2004 003 886 A1 It has become known, a method for measuring the braking force on the steerable front wheels of a substantially stationary motor vehicle has become known. There, a reduction in the steering forces during parking is proposed by the steered wheels blocked by a pulsating braking force only briefly and temporarily released therebetween.

Aus DE 10 2011 113 610 A1 ist ein Verfahren zum Betreiben eines selbstlenkenden Parkassistenzsystems bekannt geworden. Bei diesem System ist vorgesehen, bei einem Lenkmanöver der Lenkeinrichtung die bei Fahrt des Fahrzeugs herabgesetzte Lenkkraft zu nutzen.Out DE 10 2011 113 610 A1 For example, a method for operating a self-steering parking assistance system has become known. In this system, it is provided to use in a steering maneuver of the steering device the reduced driving force of the vehicle.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zum Betrieb eines Flurförderzeugs anzugeben, bei dem das Lenkmoment für ein zu lenkendes Rad verringert ist bei gleichzeitiger Vermeidung unnötigen Verschleißes durch Abrieb am gelenkten Rad.The invention has for its object to provide a method for operating a truck, in which the steering torque is reduced for a wheel to be steered while avoiding unnecessary wear due to abrasion on the steered wheel.

Diese Aufgabe wird durch die Merkmale des Patentanspruchs 1 gelöst.This object is solved by the features of patent claim 1.

Bei dem erfindungsgemäßen Verfahren wird sensiert, wenn mit der Lenkvorrichtung ein Lenkvorgang initiiert wird. Es wird ein Fahrbefehl für die Steuer- oder Regelvorrichtung erzeugt und der Fahrmotor treibt das Flurförderzeug mit einer Geschwindigkeit an, die viel kleiner ist, als die normale Fahrgeschwindigkeit, und zwar über eine begrenzte Zeitdauer, die einer begrenzten Fahrstrecke oder der Dauer einer Lenkbewegung der Lenkvorrichtung entspricht.In the method according to the invention is sensed when a steering operation is initiated with the steering device. A drive command is generated for the control device and the traction motor drives the truck at a speed much slower than the normal travel speed for a limited period of time, a limited travel distance or the duration of a steering movement of the steering device equivalent.

Das erfindungsgemäße Verfahren ermöglicht, dass bei einem Stillstand des Flurförderzeugs das Lenkmoment dadurch deutlich reduziert wird, dass das Fahrzeug während der Lenkbewegung minimal vorwärts bewegt wird. Bei einem Stillstand des Fahrzeugs erzeugt das zu lenkende Rad bei einer Einlenkung eine nicht unerhebliche Reibung aufgrund der sogenannten Haftreibung. Die Reibung wird deutlich reduziert, wenn das zu lenkende Rad auf dem Untergrund abrollt. Diese Bewegung braucht nur minimal zu sein und nur so lange anzuhalten, wie eine Lenkbewegung ausgeführt wird.The method according to the invention makes it possible to significantly reduce the steering torque when the truck comes to a standstill, because the vehicle is moved slightly forward during the steering movement. When the vehicle is at a standstill, the wheel to be steered generates a not insignificant amount during a steering movement Friction due to so-called stiction. The friction is significantly reduced when the wheel to be steered rolls on the ground. This movement needs only to be minimal and only to stop as long as a steering movement is performed.

Bei einer Lenkbewegung im Stand kommt es bei den derzeitigen Flurförderzeugen meist zu einem Ruckeln, weil das gelenkte Rad nicht exakt mittig sitzt. Eine bei der Erfindung hinzutretende sanfte Vorwärts- oder Rückwärtsbewegung um einige Millimeter bis Zentimeter wird daher dem Fahrer kaum auffallen.In a steering movement in the state it comes with the current trucks usually to a bucking, because the steered wheel is not exactly centered. A hinzutretende in the invention gentle forward or backward movement by a few millimeters to centimeters, therefore, the driver will hardly notice.

Die Fahrgeschwindigkeit, die bei dem erfindungsgemäßen Verfahren eingesetzt wird, ist gleich oder kleiner 0,1 km/h oder 0,03 m/s. Sie ist daher gegenüber den üblichen Fahrgeschwindigkeiten minimal.The driving speed used in the method according to the invention is equal to or less than 0.1 km / h or 0.03 m / s. It is therefore minimal compared to the usual driving speeds.

Arbeitet die Lenkvorrichtung mechanisch, ist nach einer Ausgestaltung der Erfindung vorgesehen, dass die Lenkvorrichtung einen Sensor aufweist, der ein Signal erzeugt, wenn die Lenkvorrichtung betätigt wird. Das Signal des Sensors wird als Fahrbefehl auf die Steuer- und/oder Regelvorrichtung für den Fahrmotor gegeben. Wie schon erwähnt, wird der Fahrmotor jedoch nur in Betrieb gesetzt, wenn er vorher im Stillstand war.Works the steering device mechanically, it is provided according to an embodiment of the invention that the steering device comprises a sensor which generates a signal when the steering device is actuated. The signal of the sensor is given as a drive command to the control and / or regulating device for the traction motor. As already mentioned, however, the drive motor is only put into operation if it was previously at a standstill.

Wie schon erwähnt, weisen viele Flurförderzeuge einen elektrischen oder hydraulischen Lenkmotor auf. In diesem Fall sieht die Erfindung vor, dass der Lenkmotor von einer Steuer- und Regelvorrichtung betätigt wird, die ihrerseits von einem Lenksignal eines Lenkorgans betätigt wird und das Lenksignal des Lenkorgans oder der Steuer- oder Regelvorrichtung des Lenkmotors parallel als Fahrbefehl auf die Steuer- oder Regelvorrichtung des Fahrmotor gegeben wird. Für die Durchführung
des Verfahrens ist es allgemein gleich, ob das Lenksignal des Lenkorgans oder das Steuer- oder Regelsignal für den Lenkmotor als Steuerbefehl oder Fahrbefehl für den Fahrmotor eingesetzt wird.As already mentioned, many industrial trucks have an electric or hydraulic steering motor. In this case, the invention provides that the steering motor is actuated by a control and regulating device, which in turn is actuated by a steering signal of a steering member and the steering signal of the steering member or the control or regulating device of the steering motor in parallel as a move command to the control or Control device of the traction motor is given. For the implementation
of the method, it is generally the same whether the steering signal of the steering member or the control signal for the steering motor is used as a control command or driving command for the traction motor.

Nach einer anderen Ausgestaltung der Erfindung ist vorgesehen, dass die Stromaufnahme bzw. Leistungsaufnahme des Lenkmotors gemessen wird und ein Fahrbefehl für die Steuer- oder Regelvorrichtung des Fahrmotors erzeugt wird, wenn die Stromaufnahme oder Leistungsaufnahme größer Null ist. Ein Lenkbefehl vom Lenkorgan für den Lenkmotor führt naturgemäß zu einer relativ hohen Strom- oder Leistungsaufnahme des Lenkmotors. Diese kann in geeigneter Weise erfasst und für einen Fahrbefehl für die Steuer- und Regelvorrichtung des Fahrmotors eingesetzt werden.According to another embodiment of the invention, it is provided that the current consumption or power consumption of the steering motor is measured and a drive command for the control or regulating device of the drive motor is generated when the power consumption or power consumption is greater than zero. A steering command from the steering member for the steering motor naturally leads to a relatively high power or power consumption of the steering motor. This can be suitably detected and used for a drive command for the control and regulating device of the drive motor.

Es ist denkbar, bei einer Ansteuerung des Fahrmotors diesen mit einer vorgegebenen Drehzahl anzutreiben und damit dem Fahrzeug eine vorgegebene Geschwindigkeit zu erteilen. Beider Erfindung ist vorgesehen, dass die Fahrgeschwindigkeit in Abhängigkeit von der Lenkwinkelgeschwindigkeit oder der Lenkwinkeländerungsgeschwindigkeit geregelt wird. Hierbei werden vorzugsweise der vom Lenkorgan vorgegebene Lenkwinkelsollwert, die Drehwinkelgeschwindigkeit des Lenkorgans und der Istwert der Winkelgeschwindigkeit des gelenkten Rades einbezogen. Mit Winkelgeschwindigkeit ist hierbei nicht die Drehung des gelenkten Rades gemeint, sondern der eingeschlagene Lenkwinkel. Bei derzeitigen Fahrzeugen reagieren Lenkungen, die mit einem Lenkmotor ausgestattet sind, leicht verzögert, besonders bei schnellen Drehungen am Lenkorgan. Durch diese Verzögerung hat die Steuer- oder Regelvorrichtung für den Fahrmotor ausreichend Zeit, diesen zu aktivieren.It is conceivable to drive this at a predetermined speed with a control of the drive motor and thus to give the vehicle a predetermined speed. In the invention, it is provided that the driving speed is regulated as a function of the steering angle speed or the steering angle change speed. In this case, preferably the steering angle setpoint specified by the steering element, the rotational angular velocity of the steering element and the actual value of the angular velocity of the steered wheel are included. With angular velocity here is not the rotation of the steered wheel meant, but the chosen steering angle. In current vehicles, steering systems equipped with a steering motor are slightly decelerating, especially with fast turns on the steering element. Due to this delay, the control device for the drive motor has sufficient time to activate this.

Für die Reduzierung des Lenkmoments im Stillstand des Fahrzeugs ist es letztlich gleich, in welcher Fahrtrichtung sich das Fahrzeug bewegt. Ist eine Fahrtrichtung vorgewählt, wird diese verwendet. Ist keine vorgewählt, kann in die Steuer- oder Regelvorrichtung für den Fahrmotor eine vorgegebene Fahrtrichtung einprogrammiert werden.For the reduction of the steering torque at standstill of the vehicle, it is ultimately the same in which direction the vehicle is moving. If a direction of travel is preselected, this is used. If none is preselected, may be in the control or Regulating device for the drive motor a predetermined direction be programmed.

Eine andere Ausführungsform des erfindungsgemäßen Verfahrens sieht vor, dass die Lenkachse des gelenkten Rades gegenüber dem Mittelpunkt der Aufstandsfläche um einen Radius versetzt ist, die Geschwindigkeit des Flurförderzeugs in Abhängigkeit von der Lenkwinkelgeschwindigkeit und dem Radius geregelt und die Fahrtrichtung so vorgegeben wird, dass sie in Richtung des Mittelpunkts der Aufstandsfläche liegt.Another embodiment of the inventive method provides that the steering axis of the steered wheel is offset from the center of the footprint by a radius, the speed of the truck depending on the steering angular velocity and the radius regulated and the direction of travel is set so that they are in the direction the center of the footprint lies.

Wenn das Antriebsrad oder die Antriebsräder des Flurförderzeugs im Vortrieb in Abhängigkeit von der Lenkwinkelgeschwindigkeit und dem Radius des Versatzes der Lenkachse geregelt wird, bewegt sich das Fahrzeug vorwärts nicht von der Stelle. Die begrenzte Zeitdauer entspricht dabei der Dauer der Lenkbewegung.When the drive wheel or the drive wheels of the truck are controlled in the propulsion in dependence on the steering angular velocity and the radius of the offset of the steering axis, the vehicle does not move forward from the site. The limited time corresponds to the duration of the steering movement.

Die Lenkachse muss nicht außerhalb der Aufstandsfläche liegen, es reicht aus, wenn sie seitlich vom Mittelpunkt der Aufstandsfläche in deren Bereich liegt.The steering axle does not have to be outside the contact area, it is sufficient if it is located to the side of the center of the footprint in their area.

Das erfindungsgemäße Verfahren ist sowohl für Flurförderzeuge mit elektrischer Lenkung als auch mit oder ohne Lenkhilfe anwendbar. Ein Verzicht auf elektrische Lenkung oder Lenkhilfe ist auch bei etwas größeren deichselgelenkten Flurförderzeugen möglich. Alternativ ist eine geringere Dimensionierung bei großen deichselgelenkten Flurförderzeugen oder mit Flurförderzeugen mit Lenkradlenkung möglich.The inventive method is applicable both for trucks with electric steering and with or without power steering. A waiver of electric steering or steering assistance is also possible with slightly larger drawbar-steered trucks. Alternatively, a smaller dimensioning for large drawbar-steered trucks or trucks with steering wheel steering is possible.

Die Erfindung wird nachfolgend anhand von Zeichnungen näher erläutert.

Fig. 1
zeigt ein Ablaufschema für die Ansteuerung eines Fahrmotors bei mechanischer Lenkung eines Flurförderzeugs.
Fig. 2
zeigt ein Ablaufschema für eine Vorentscheidung zur Ansteuerung eines Fahrmotors eines Flurförderzeugs bei Initiierung eines Lenkvorgangs.
Fig. 3
zeigt ein Ablaufschema für die Regelung der Fahrgeschwindigkeit bei der Reduzierung eines Lenkmoments bei einem Flurförderzeug.
The invention will be explained in more detail with reference to drawings.
Fig. 1
shows a flowchart for the control of a drive motor in mechanical steering of a truck.
Fig. 2
shows a flowchart for a preliminary decision to control a drive motor of a truck at initiation of a steering operation.
Fig. 3
shows a flowchart for the control of the driving speed in the reduction of a steering torque in an industrial truck.

Das in Fig. 1 dargestellte Schema entspricht dem erfindungsgemäßen Verfahren bei einer mechanischen Lenkung des gelenkten Rades eines Flurförderzeugs. Der Beginn einer Lenkbewegung wird von einem geeigneten Sensor, beispielsweise an der Deichsel des Flurförderzeugs sensiert. In der Steuer- oder Regelvorrichtung für einen Fahrmotor des Flurförderzeugs wird für diesen Fall ermittelt, ob die Fahrgeschwindigkeit größer oder gleich Null ist. Ist die Fahrgeschwindigkeit größer Null, entspricht dies einem normalen Fahrbetrieb. Ist sie jedoch nicht größer Null, wird eine Fahrtrichtung vorgewählt oder auch nicht und es folgt eine Ansteuerung des Fahrmotors in der programmierten oder gewählten Fahrtrichtung mit sehr geringer Geschwindigkeit über eine Zeitdauer, welche zum Beispiel der Dauer der Lenkbewegung der Lenkvorrichtung entspricht. Damit erfolgt eine Einschwenkung des gelenkten Rades bei sich langsam vorbewegendem Fahrzeug und somit nicht im Stand, wodurch das Lenkmoment drastisch reduziert wird.This in Fig. 1 Diagram shown corresponds to the method according to the invention in a mechanical steering of the steered wheel of a truck. The beginning of a steering movement is sensed by a suitable sensor, for example on the drawbar of the truck. In the control or regulating device for a traction motor of the truck is determined in this case, whether the driving speed is greater than or equal to zero. If the driving speed is greater than zero, this corresponds to a normal driving operation. However, if it is not greater than zero, a direction of travel is selected or not and it follows a control of the traction motor in the programmed or selected direction of travel at a very low speed over a period corresponding, for example, the duration of the steering movement of the steering device. This results in a pivoting of the steered wheel in slowly vorbewegendem vehicle and thus not in the state, whereby the steering torque is drastically reduced.

Es ist denkbar, dass das Fahrzeug bei nicht betätigtem Fahrmotor sich bewegt, zum Beispiel ausrollt oder ein Gefälle herunterrollt. Auch für diesen Fall ist der Einsatz des erfindungsgemäßen Verfahrens obsolet. Hierbei ist dann lediglich zu eruieren, ob ein Fahrbefehl für den Fahrmotor vorliegt. Erst wenn dieser nicht vorliegt, kann der Fahrmotor mit der geringen Geschwindigkeit in Gang gesetzt werden.It is conceivable that the vehicle moves when the drive motor is not actuated, for example, rolls out or rolls down a slope. Also in this case, the use of the method according to the invention is obsolete. In this case, it is then only necessary to ascertain whether a drive command for the drive motor is present. Only when this is not present, the traction motor can be set at low speed in motion.

Bei dem Schema nach Fig. 2 wird wiederum der Beginn einer Lenkbewegung sensiert. Das Lenksignal eines Lenkorgans stellt das sensierte Signal dar bzw. das von der Steuer- oder Regelvorrichtung für den Lenkmotor erzeugte Steuersignal für den Lenkmotor. Dieses Signal wird wiederum auf die Steuer- oder Regelvorrichtung für den Fahrmotor gegeben und wenn festgestellt wird, dass die Geschwindigkeit größer Null ist, kann bei gewählter Fahrtrichtung der Fahrmotor im üblichen Betrieb entsprechend angesteuert werden. Ist die Fahrgeschwindigkeit jedoch Null, erfolgt eine Ansteuerung des Lenkmotors mit Ansteuerung des Fahrmotors. Nach Vorwahl der Fahrtrichtung erfolgt eine Ansteuerung des Lenkmotors und des Fahrmotors. Dies aber gemäß Fig. 3 unter Umständen mittels einer Regelung der Geschwindigkeit des Lenkmotors. Ist der Sollwert für den Lenkwinkel größer als sein Istwert, wird geprüft, ob der Motorstrom des Lenkmotors zu hoch ist. Ist dies nicht der Fall, bleiben Fahrgeschwindigkeit und Lenkbewegung beibehalten. Ist der Motorstrom des Lenkmotors zu hoch, wird die Fahrgeschwindigkeit erhöht bis zu einer Begrenzung, die, wie erwähnt, deutlich unterhalb der normalen Fahrgeschwindigkeit liegt. Nach diesem Schema ist es daher möglich, die Geschwindigkeit des Fahrmotors bei nichtexterner Ansteuerung durch einen Nutzer zu regeln und an die Lenkbewegung anzupassen.In the scheme after Fig. 2 In turn, the beginning of a steering movement is sensed. The steering signal of a steering member represents the sensed signal and the steering motor control signal generated by the steering motor control apparatus. This signal is in turn applied to the control device for Given the traction motor and if it is determined that the speed is greater than zero, the traction motor can be controlled accordingly in the selected direction of travel in normal operation. However, if the driving speed is zero, the steering motor is actuated with control of the traction motor. After preselection of the direction of travel is a control of the steering motor and the drive motor. But according to Fig. 3 possibly by means of a regulation of the speed of the steering motor. If the target value for the steering angle is greater than its actual value, it is checked whether the motor current of the steering motor is too high. If this is not the case, driving speed and steering movement are maintained. If the motor current of the steering motor is too high, the driving speed is increased up to a limit, which, as mentioned, is well below the normal driving speed. According to this scheme, it is therefore possible to control the speed of the traction motor with non-external control by a user and adapt to the steering movement.

Wie bereits erwähnt, ist es auch möglich, die Lenkdrehachse des gelenkten Rades gegenüber dem Mittelpunkt der Aufstandsfläche des Rades zu versetzen. Dabei kann die Lenkachse innerhalb oder außerhalb der Aufstandsfläche liegen. Dies ist in den Figuren nicht dargestellt. Erfolgt eine Drehung des gelenkten Rades, reicht die Fahrtantriebsstrecke des Fahrantriebs aus, die bei einem bestimmten Lenkwinkel nötig ist, um das Fahrzeug zu bewegen. Wird der Antrieb so geregelt, dass die Fahrgeschwindigkeit abhängig ist von der Lenkwinkelgeschwindigkeit sowie dem Radius zwischen Lenkdrehachse und Mittelpunkt, braucht das Fahrzeug sich nicht vorwärts zu bewegen, um im Sinne einer reduzierten Lenkkraft zu wirken. Das Fahrzeug bewegt sich hierbei nicht vorwärts, obwohl der Fahrantrieb das angetriebene Rad in Bewegung setzt. Es versteht sich, dass hierbei die Fahrtrichtung nicht beliebig gewählt werden kann, sondern in der gleichen Richtung vorgewählt werden muss, in die sich der Mittelpunkt der Aufstandsfläche bewegt.As already mentioned, it is also possible to offset the steering axis of rotation of the steered wheel with respect to the center of the footprint of the wheel. The steering axle can lie inside or outside the footprint. This is not shown in the figures. If a rotation of the steered wheel, the drive train of the traction drive is sufficient, which is necessary at a certain steering angle to move the vehicle. If the drive is controlled so that the driving speed is dependent on the steering angle speed and the radius between the steering axis and center, the vehicle does not need to move forward to act in terms of reduced steering force. The vehicle does not move forward, although the traction drive sets the driven wheel in motion. It is understood that in this case the direction of travel can not be chosen arbitrarily, but must be selected in the same direction in which moves the center of the footprint.

Claims (9)

  1. Method for operating an industrial truck which has a drive motor and at least one steered wheel which can be actuated by a steering device, and an electrical control or regulating device for the drive motor, characterized by the following steps:
    Sensing a steering operation initiated by the steering device when the industrial truck is at a standstill;
    generating a drive command for the control device, with which the drive motor drives the industrial truck at a drive speed which is much lower than a normal drive speed, the drive speed being controlled as a function of the steering angle speed or steering angle change speed over a limited period of time which corresponds to the duration of a steering movement of the control device.
  2. Method according to claim 1, characterized in that the steering device operates mechanically and comprises a sensor which generates a signal when the steering device is actuated and the signal is given as a drive command to the control device for the drive motor.
  3. Method according to claim 1, characterized in that the steering device comprises an electric or hydraulic steering motor which is driven by a control or regulating device which in turn is actuated by a steering signal of a steering member and the signal of the control or regulating device is given as a drive command in parallel to the control or regulating device of the driving motor.
  4. Method according to claim 1, characterized in that the steering device comprises an electric or hydraulic steering motor and the current consumption or the power consumption, respectively, of the steering motor is measured and a drive command for the control and regulating device of the driving motor is generated if the current consumption or the power consumption is greater than zero.
  5. Method according to any one of claims 1 to 4, characterized in that the driving speed is equal to or less than 0.1 km/h or 0.03 m/s.
  6. Method according to Claim 1, characterized in that the steering angle setpoint specified by the steering member, the rotational angle speed of the steering member and the actual value of the angular speed of the steered wheel are included.
  7. Method according to one of the claims 1 to 6, characterized in that this is used in a predetermined selection of the direction of travel of the industrial truck.
  8. Method according to one of claims 1 to 7, characterized in that a predetermined direction of travel is programmed into the control or regulating device for the drive motor.
  9. Method according to one of claims 1 to 5, characterized in that, in the event of an offset of the steering axis of rotation of the steered wheel relative to the centre of the contact surface of the wheel by a radius, the speed of the industrial truck is controlled as a function of the steering angle speed and the radius, and the driving direction is determined according to the direction in which the centre of the contact surface moves.
EP17156457.8A 2016-03-03 2017-02-16 Method for operating an industrial truck Active EP3214035B1 (en)

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DE102016103805.9A DE102016103805A1 (en) 2016-03-03 2016-03-03 Method for operating an industrial truck

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Cited By (1)

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US11352243B2 (en) 2018-09-13 2022-06-07 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

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DE102018217306A1 (en) * 2018-10-10 2020-04-16 Robert Bosch Gmbh Method for operating a vehicle

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DE19901451C3 (en) * 1999-01-15 2003-06-05 Linde Ag Drawbar-controlled industrial truck
DE10353246A1 (en) * 2002-11-16 2004-06-09 Continental Teves Ag & Co. Ohg Method for ascertaining parameter for instantaneous maximum frictional coefficient e.g. between vehicle tires and roadway, involves determining parameter on basis of force, torque or derived variable acting on part of steering system
DE102004003886B4 (en) * 2004-01-27 2019-12-24 Bayerische Motoren Werke Aktiengesellschaft Method for measuring the braking force on the steerable front wheels of an essentially stationary motor vehicle
DE102007043280A1 (en) * 2007-09-11 2009-03-12 Jungheinrich Ag Mitgehhubwagen
DE102011113610A1 (en) * 2011-09-16 2013-03-21 GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) Method for operating steering park assistance system for motor car, involves outputting instruction for starting vehicle during steering maneuver of steering device against one of end stops of steering of vehicle

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Publication number Priority date Publication date Assignee Title
US11352243B2 (en) 2018-09-13 2022-06-07 Crown Equipment Corporation System and method for controlling a maximum vehicle speed for an industrial vehicle based on a calculated load

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