CN112938830A - Control method of double-drive electric forklift - Google Patents
Control method of double-drive electric forklift Download PDFInfo
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- CN112938830A CN112938830A CN202110206530.1A CN202110206530A CN112938830A CN 112938830 A CN112938830 A CN 112938830A CN 202110206530 A CN202110206530 A CN 202110206530A CN 112938830 A CN112938830 A CN 112938830A
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- steering
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- angle sensor
- steering information
- motor controller
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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
- B66F9/0755—Position control; Position detectors
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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
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
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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
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- Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a control method of a double-drive electric forklift, which comprises the following steps: respectively acquiring steering information of a master angle sensor and a slave angle sensor, wherein the master angle sensor and the slave angle sensor are respectively arranged at a steering knuckle master pin of a steering axle; the steering information is transmitted to a steering signal processor and output information is determined; and outputting the output information to a motor controller, and controlling a traction motor of the double-drive electric forklift through the motor controller. The invention adopts two angle sensors to implement control, effectively avoids the problem of unbalanced current of the traction motor caused by angle identification errors, and avoids heavy current heating of the traction motor caused by abnormal load.
Description
Technical Field
The invention relates to the technical field of forklift steering angle identification, in particular to a control method of a double-drive electric forklift.
Background
In the prior art, a double-drive electric forklift is generally an electronic differential control system, and a controller identifies the position of a steering wheel in real time according to a sensor arranged on a steering axle so as to control the rotating speed and the direction of a driving wheel connected to a gearbox. In the traditional design of the double-drive scheme, a sensor is generally assembled on one side of a steering axle, a rotor part of the sensor extends out of a flat shaft and is connected with an inner hole of a main pin of a steering knuckle, and a stator part generates a sensing signal. The sensor rotor and the steering knuckle master pin have higher coaxiality requirement during assembly, and the inner hole machining precision grade of the steering knuckle master pin is higher, so that the machining difficulty and the production cost are greatly increased. When the assembly precision is relatively poor, the driving system can lead to two driving motors to drive the current unbalance because of the angle recognition error, and then the problem that the motor current is big, the serious generates heat appears, influences fork truck's normal use.
Disclosure of Invention
The invention aims to provide a control method of a double-drive electric forklift to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a control method of a double-drive electric forklift comprises the following steps:
the method comprises the following steps: respectively acquiring steering information of a master angle sensor and a slave angle sensor, wherein the master angle sensor and the slave angle sensor are respectively arranged at a steering knuckle master pin of a steering axle;
step two: the steering information is transmitted to a steering signal processor and output information is determined;
step three: and outputting the output information to a motor controller, and controlling a traction motor of the double-drive electric forklift through the motor controller.
In the second step, the steering information includes master steering information of the master angle sensor and slave steering information of the slave angle sensor.
The method for transmitting the steering information to the steering signal processor and determining the output information comprises the following steps:
determining whether the main steering information and the auxiliary steering information are both within a preset deviation range;
if so, the steering signal processor processes the main steering information and transmits the processed main steering information as output information to the motor controller;
if not, determining whether any steering information in the main steering information and the auxiliary steering information is within a preset deviation range, if so, processing the steering information by the steering signal processor and then transmitting the processed steering information to the motor controller as output information, and if not, stopping to check the main angle sensor and the auxiliary angle sensor.
And in the third step, the motor controller controls the traction motors of the double-drive electric forklift to respectively comprise a left traction motor and a right traction motor, the left traction motor and the right traction motor are respectively connected with a speed sensor, the speed sensors feed back the speed information of the left traction motor and the speed information of the right traction motor to the motor controller, and the motor controller controls the differential rotation of the left traction motor and the right traction motor according to the speed information and the steering information.
The method for determining whether any one of the master steering information and the slave steering information is within a preset deviation range comprises the following steps:
an alarm buzzer is arranged on the steering signal processing;
and if any steering information in the main steering information and the auxiliary steering information is not in a preset deviation range, the alarm buzzer warns.
According to the technical scheme, the two angle sensors are adopted to implement control, so that the problem of unbalanced current of the traction motor caused by angle identification errors is effectively solved, heavy current heating of the traction motor caused by abnormal load is avoided, and the method has the following specific beneficial effects:
1: the two angle sensors are adopted, so that the accuracy of collecting corner information of the vehicle is improved, the requirement on the installation accuracy is reduced, the requirements on the related processing technology of the main pin are simplified, and the manufacturing cost is reduced;
2: the two angle sensors can simultaneously acquire corner signals on two sides and realize the comparison of the signals, once a comparison error occurs in the signals, a system fault or abnormity can be prompted, meanwhile, the main angle sensor and the slave angle sensors are adopted to acquire steering information, and when one of the main angle sensor and the slave angle sensor fails, the other one can still run normally, so that the use safety and the usability of the vehicle are effectively improved;
3: the two angle sensors finally acquire and process two corner signals by the steering signal processor after acquiring corner information, and transmit the signal of one of the angle sensors to the motor controller to complete the control of the two traction motors, so that the problem of unbalanced current of the traction motors caused by angle identification errors can be avoided, and the large current heating of the traction motors caused by abnormal load is avoided.
Drawings
FIG. 1 is an electrical control block diagram of the present invention;
FIG. 2 is a circuit diagram of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1-2, in the drawings, the control system of the dual-drive electric forklift includes two angle sensors, namely an angle sensor 7 and an angle sensor 8, wherein the angle sensor 7 and the angle sensor 8 are respectively installed on a steering knuckle kingpin of a steering axle of the forklift to respectively acquire steering information of left and right rear wheels, and in the scheme, the acquired steering information is acquired in real time; simultaneously, still including turning to signal processor 6 and motor controller 2, turning to signal processor 6 electricity and linking motor controller 2, motor controller 2 electricity link two respectively be used for driving left and right rear wheel left traction motor 4 and right traction motor 3, here angle sensor 7 be main angle sensor, angle sensor 8 be from angle sensor.
The control method of the double-drive electric forklift comprises the following steps:
the method comprises the following steps: respectively acquiring steering information of a master angle sensor and a slave angle sensor, wherein the master angle sensor and the slave angle sensor are respectively arranged at a steering knuckle master pin of a steering axle;
step two: the steering information is transmitted to the steering signal processor 6 and output information is determined;
step three: and outputting the output information to a motor controller 2, and controlling a traction motor of the double-drive electric forklift through the motor controller 2.
Here, the master angle sensor and the slave angle sensor are both non-contact angle sensors, which have the characteristics of convenience in installation, high sensitivity and high accuracy.
Further, in the second step, the steering information includes master steering information of the master angle sensor and slave steering information of the slave angle sensor. It should be explained here that, in the present application, the steering signal processor 6 acquires the rotation angle information of the angle sensor 7 and the angle sensor 8, respectively, determines which output information is to be output according to the rotation angle information of the angle sensor 7 and the angle sensor 8, and in practice, the rotation angle information of the angle sensor 7 is preferentially determined as the main steering information, that is, when the angle sensor 7 and the angle sensor 8 simultaneously output signals within a normal range to the steering signal processor 6, the steering signal processor 6 only uses the rotation angle signal of the angle sensor 7, and the rotation angle signal of the angle sensor 8 is used as the backup signal. The specific judgment is as follows:
the method for transmitting the steering information to the steering signal processor 6 and determining the output information comprises the following steps:
determining whether the main steering information and the auxiliary steering information are both within a preset deviation range;
if yes, the steering signal processor 6 processes the main steering information and transmits the processed main steering information as output information to the motor controller 2;
if not, determining whether any steering information in the main steering information and the auxiliary steering information is within a preset deviation range, if so, processing the steering information by the steering signal processor 6 and then transmitting the processed steering information to the motor controller 2 as output information, and if not, stopping to check the main angle sensor and the auxiliary angle sensor.
The further control method comprises the following steps that in the third step, the motor controller 2 controls the two traction motors of the double-drive electric forklift to comprise a left traction motor 4 and a right traction motor 3, the left traction motor 4 and the right traction motor 3 are respectively connected with a speed sensor which is a speed sensor 4-1 and a speed sensor 3-1, the speed sensors feed back speed information of the left traction motor 4 and the right traction motor 3 to the motor controller 2, and the motor controller 2 controls the left traction motor 4 and the right traction motor 3 to rotate in a differential mode according to the speed information and steering information.
The method for determining whether any one of the master steering information and the slave steering information is within a preset deviation range further comprises the following steps: an alarm buzzer 9 is arranged on the steering signal processing; if any one of the main steering information and the auxiliary steering information is not in the preset deviation range, the alarm buzzer 9 gives an alarm.
In the following, a further detailed description will be made in conjunction with a control system and a specific circuit of the dual drive electric forklift.
The system part is as follows:
the speed sensor 3-1 is respectively connected with the right traction motor 3 and the motor controller 2, and the speed sensor 4-1 is respectively connected with the left traction motor 4 and the motor controller 2, wherein, the speed sensor 3-1 and the speed sensor 4-1 are used for feeding back the speed information of the traction motor of the forklift to the motor controller 2 so as to realize the differential control of the left and the right rear wheels.
The motor controller 2 and the steering signal processor 6 are powered by a battery 1, the battery 1 is also electrically connected with a direct current voltage converter 10, and the direct current voltage converter 10 is electrically connected to an angle sensor 7 and an angle sensor 8. Because angle sensor breaks down easily in the middle of practical application, consequently, turn to signal processor 6 on still be connected with warning buzzer 9, work as angle sensor 7 and angle sensor 8 have arbitrary one or two to break down, accessible warning buzzer 9 plays effectual warning effect, the inspection of getting off in time of the operating personnel of being convenient for.
The angle sensor 7 is defined as a master angle sensor that acquires and the slave angle sensor for simultaneously acquiring steering information of the left and right rear wheels, and the slave angle sensor 8 is defined as a slave angle sensor. The present invention will be specifically described below with reference to a schematic circuit diagram.
A circuit part:
a first fuse 11 is arranged between the positive terminal of the battery 1 and the key switch 12, a second fuse 13 and a main contactor 14 are arranged between the battery 1 and the motor controller 2, the coil end of the main contactor 14 is connected to the motor controller 2, and a third fuse 15 is arranged between the angle sensor 7 and the angle sensor 8 and the direct-current voltage converter 10. The motor controller adopts a ZAPI ACE series control chip U1, a positive power supply of the battery 1 is connected with a contact of the main contactor 14 through the second fuse 13, and the other contact of the main contactor 14 is connected with a positive terminal BP of the motor controller 2. The negative terminal BN of the motor controller 2, the GND1, GND2 of the negative power supply of the dc voltage converter 10, and the negative power supply GND3 of the turn signal processor 6, and the negative power supply terminal GND4 of the meter 16 are all connected to the negative power supply of the battery 1. The power input terminal KSI of the control chip U1 of the motor controller 2, the power input terminal KS2 of the control chip U2 of the turn signal processor 6, the power input terminal KS3 of the chip U3 of the meter 16, and the input power terminal B + of the dc voltage converter 10 are connected in series with the key switch 12 through the first fuse 11. The coil of the main contactor 14 is connected in series between the control ports NMC, PMC of the control chip U1 of the motor controller 2. The direction switch 17 is connected in series between a digital input port CMM of a control chip U1 in the motor controller 2 and input ends of a forward switch signal DIG1 and a backward switch signal DIG2, and power supply ports PPOT, NPOT and CPOT of the chip U1 are respectively connected with two ends of a power supply and a speed regulation end of the accelerator 5.
Analog signal input ports AN1 and AN2 of a control chip U2 in the steering signal processor 6 are connected with signal input ends of AN angle sensor 7 and AN angle sensor 8, a driving port OUT1 is connected with the negative electrode of AN alarm buzzer 9, and the driving port OUT2 transmits a corner signal to AN analog quantity port AIN of a control chip U1 of the motor controller 2 through normally closed switches of a relay 20 and a relay 21.
The relay 20 and the relay 21 have two pairs of contacts which are normally open and normally closed. The coil positive power supply of the relay 20 is connected with the power supply output of the steering selection switch 18, the coil negative power supply of the relay 20 is connected with the negative power supply of the battery 1, one end of the normally open contact of the relay 20 is connected with the voltage output signal of the angle sensor 7, and the other end of the normally open contact of the relay 20 is connected with the AIN port of the motor controller 2. The coil positive power supply of the relay 21 is connected with the power supply output of the steering selection switch 19, the coil negative power supply of the relay 21 is connected with the negative power supply of the battery 1, one end of the normally open contact of the relay 21 is connected with the voltage output signal of the angle sensor 8, and the other end of the normally open contact of the relay 21 is connected with the AIN port of the traction controller 2. The normally closed contacts of the relay 20 and the relay 21 are connected in series to transmit an output signal OUT2 of the steering signal processor 6 to an AIN port of the motor controller 2.
The outgoing lines of the traction motor 3 are connected to power unit terminals U1, V1, and W1 of the motor controller 2, respectively, and the outgoing lines of the traction motor 4 are connected to power unit terminals U2, V2, and W2 of the motor controller 2, respectively. The meter 16, the motor controller 2, and the steering signal processor 6 communicate via CAN buses (CAN L1, CAN H1, CAN L2, CAN H2, CAN L3, CAN H3).
The battery 1 is used as a power supply, after the key switch 12 is switched on, the direct current voltage converter 10, the motor controller 2, the steering signal processor 6 and the control chips U1, U2 and U3 of the instrument 16 are powered on, after system self-test, voltage difference is generated at two ends of a coil of the main contactor 14, contacts of the main contactor 14 are switched on, a power unit positive electrode terminal BP of the motor controller 2 is powered on, meanwhile, the direct current voltage converter 10 is powered on to convert a +12V/+24V power supply to provide a positive power supply for the angle sensor 7 and the angle sensor 8, and when an operator pulls the direction switch 17 to select a traveling direction and treads the accelerator 5, the forklift motor controller 2 receives instructions of the direction switch 17 and the accelerator 5 to control the traction motors 3 and 4 to operate so as to drive the forklift to travel. Meanwhile, the motor controller 2 receives the running speeds of the vehicle fed back by the speed sensors 3-1 and 4-1 arranged in the right traction motor 3 and the left traction motor 4 in real time. The steering signal processor 6 receives voltage signals of the steering angle of the vehicle fed back by the angle sensors 7 and 8 on the left and right steering knuckle kingpins in real time, and after voltage comparison, when the angle sensors 7 and 8 are normal in function, the steering signal processor 6 judges that two paths of voltage deviation are within an allowable range (here, the voltage signals are steering information), that is, the signals of the angle sensors 7 are input to the input port AIN of the motor controller 2. When the steering signal processor 6 determines that the deviation of the two-way voltage exceeds the allowable range value, the OUT1 port of the steering signal processor 6 outputs a low voltage, and the signal is transmitted to the motor controller 2 and the instrument 16 through the CAN bus. The motor controller 2 receives the low voltage signal to control the right traction motor 3 and the left traction motor 4 to operate at a speed limit, and the instrument receives the low voltage signal and then the fault wrench in the display screen flashes. Meanwhile, the OUT1 port of the steering signal processor 6 outputs a low voltage to drive the alarm buzzer 9 to warn. At this time, the signal accuracy of the two paths of angle sensors needs to be tested manually. After the normal angle sensor 7 and angle sensor 8 are confirmed to be input, the corresponding corner signal selection switch 18 or corner signal selection switch 19 is pressed, the coil positive power supply of the relay 20 or relay 21 is electrified, the normally open contact corresponding to the relay 20 or relay 21 is closed, the normally closed contact corresponding to the relay 20 or relay 21 is opened, and the daily voltage signals input into the normal angle sensor 7 and angle sensor 8 are directly input into the analog signal port AIN of the motor controller 2. The motor controller 2 performs differential control of the right traction motor 3 and the left traction motor 4 according to the vehicle steering angle. When the steering signal processor 6 determines that one of the voltage deviations is within the allowable range, the signal of the angle sensor of the normal path is input to the input port AIN of the motor controller 2.
The motor controller 2 transmits the voltage of the input port AIN and the speed instruction fed back by the speed sensor 3-1 and the speed sensor 4-1 and the vehicle running speed fed back by the accelerator in real time according to the steering signal processor 6 to carry out intelligent speed control on the right traction motor 3 and the left traction motor 4 according to a set corner speed control curve; meanwhile, the steering signal processor 6 transmits the turning angle signal to the instrument 16 through the CAN bus in real time, and the instrument 16 displays the steering angle of the vehicle in real time.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (5)
1. A control method of a double-drive electric forklift is characterized by comprising the following steps:
the method comprises the following steps: respectively acquiring steering information of a master angle sensor and a slave angle sensor, wherein the master angle sensor and the slave angle sensor are respectively arranged at a steering knuckle master pin of a steering axle;
step two: the steering information is transmitted to a steering signal processor and output information is determined;
step three: and outputting the output information to a motor controller, and controlling a traction motor of the double-drive electric forklift through the motor controller.
2. The control method of a double-drive electric forklift according to claim 1, characterized in that: in the second step, the steering information includes master steering information of the master angle sensor and slave steering information of the slave angle sensor.
3. The control method of a double-drive electric forklift according to claim 2, characterized in that: the method for transmitting the steering information to the steering signal processor and determining the output information comprises the following steps:
determining whether the main steering information and the auxiliary steering information are both within a preset deviation range;
if so, the steering signal processor processes the main steering information and transmits the processed main steering information as output information to the motor controller;
if not, determining whether any steering information in the main steering information and the auxiliary steering information is within a preset deviation range, if so, processing the steering information by the steering signal processor and then transmitting the processed steering information to the motor controller as output information, and if not, stopping to check the main angle sensor and the auxiliary angle sensor.
4. The control method of a double-drive electric forklift according to claim 1, characterized in that: and in the third step, the motor controller controls the traction motors of the double-drive electric forklift to respectively comprise a left traction motor and a right traction motor, the left traction motor and the right traction motor are respectively connected with a speed sensor, the speed sensors feed back the speed information of the left traction motor and the speed information of the right traction motor to the motor controller, and the motor controller controls the differential rotation of the left traction motor and the right traction motor according to the speed information and the steering information.
5. The control method of a double-drive electric forklift according to claim 3, characterized in that: the method for determining whether any one of the master steering information and the slave steering information is within a preset deviation range comprises the following steps:
an alarm buzzer is arranged on the steering signal processing;
and if any steering information in the main steering information and the auxiliary steering information is not in a preset deviation range, the alarm buzzer warns.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110206530.1A CN112938830A (en) | 2021-02-24 | 2021-02-24 | Control method of double-drive electric forklift |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110206530.1A CN112938830A (en) | 2021-02-24 | 2021-02-24 | Control method of double-drive electric forklift |
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| CN112938830A true CN112938830A (en) | 2021-06-11 |
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| CN202110206530.1A Pending CN112938830A (en) | 2021-02-24 | 2021-02-24 | Control method of double-drive electric forklift |
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| CN207903844U (en) * | 2018-02-08 | 2018-09-25 | 烟台凯瑞智控科技有限公司 | A kind of forklift-walking system and the fork truck with it |
| CN109160455A (en) * | 2018-11-12 | 2019-01-08 | 杭叉集团股份有限公司 | Large-tonnage electric forklift and its double-motor driving device |
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