CN100370687C - Electric forklift running driving control system having energy recovery - Google Patents
Electric forklift running driving control system having energy recovery Download PDFInfo
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- CN100370687C CN100370687C CNB2006100426048A CN200610042604A CN100370687C CN 100370687 C CN100370687 C CN 100370687C CN B2006100426048 A CNB2006100426048 A CN B2006100426048A CN 200610042604 A CN200610042604 A CN 200610042604A CN 100370687 C CN100370687 C CN 100370687C
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- running driving
- hydraulic pump
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- Forklifts And Lifting Vehicles (AREA)
Abstract
The present invention discloses a running, driving and controlling system of an electric forkman with the function of energy recovery, which comprises an accumulator, a controlling device, a motor, a hydraulic pump, a hydraulic motor, a safety valve, an oil complement device and a controlling handle, wherein the motor is used for driving the hydraulic pump, and a closed volumetric speed regulating loop is composed of the hydraulic pump and the hydraulic motor. The controlling system can implement the drive, the control and the stepless speed regulation of a running mechanism, the controlling device is used for making the motor work in a regenerative braking mode when the electric forkman retards, brakes and limits speed in a downhill state, braking energy is recovered through a boosted circuit and a DC/DC changer and is stored in the accumulators, and the charge for a short time to the accumulators is implemented. On one end, the energy is saved, and the work efficiency of the electric forkman is increased; on the other hand, because of the braking torque function of the motor, the mechanical braking abrasion is decreased, and the braking noise is reduced. The system can be applied to the control of the volumetric speed regulating energy recovery of other motor pumps of hydraulic systems, the damper loss of the hydraulic systems is immensely reduced, and the system has immense application values.
Description
Technical field
The invention belongs to electric forklift running device control field, relate in particular to a kind of electric forklift running driving control system, the fork truck potential energy when this system can reclaim the fork truck braking energy of control electri forklift braking procedure and electri forklift descending speed limit with energy recuperation.
Background technology
In recent years, along with the development of industrial technology in the world wide, energy shortage and problem of environmental pollution are serious day by day, and sub-technology of this current collection of electri forklift and hydraulic technique are maked rapid progress in the product of one.The production and selling of current domestic electri forklift increases progressively with 20% development speed every year, adds the transformation to original fork truck recoverable amount, and this market is broad.At present mostly the running gear of most commercially available fork truck is motor-mechanically operated, complex structure, and it is big to take up room.Both at home and abroad the equipment of the novel electric component of electric fork lift truck applications has promoted the class of electri forklift, has improved vehicle performance, make electri forklift towards height hoist, high-speed, high grade climbing performance, high secure side be to development.The market share of fully-hydraulic electric fork truck constantly rises at present.Its drive system adopts motor-hydraulic system to carry into execution a plan more, and the actuating speed of travelling is regulated the throttle grverning modes that adopt more, and the result causes running efficiency of system low, and energy loss is big, and the power of motor can not make full use of.The wearing and tearing heat energy dissipation that energy when electri forklift retarding braking and descending speed limit all is converted into brake falls, and promptly wastes energy, and causes brake block wearing and tearing and brake noise again easily.The power saving of electri forklift has become a primary study direction.
Summary of the invention
At defective and deficiency that above-mentioned prior art exists, the invention reside in provides a kind of electric forklift running driving control system with energy recuperation.This control system can not only realize the stepless speed regulation of electri forklift, improves the operational efficiency of system.The more important thing is, when fork truck braking deceleration and descending speed limit, control device makes machine operation in the regenerative braking pattern, and the electric energy that regenerative braking produced fed back in the storage battery, realize the charging in short-term of storage battery, utilize the braking moment of motor to realize that fork truck slows down and speed limit, reduces the wearing and tearing of mechanical brake simultaneously, reduce use cost, energy savings.
For achieving the above object, the technical solution used in the present invention is, a kind of electric forklift running driving control system with energy recuperation, and this system comprises storage battery, control device, motor, hydraulic pump, hydraulic motor, safety valve, recharging oil device, joystick; The hydraulic pump mechanical connection that motor and discharge capacity are suitable, hydraulic pump and hydraulic motor parallel connection, hydraulic pump and hydraulic motor constitute enclosed volumetric speed control hydraulic circuit, and the two ends of hydraulic pump and hydraulic motor link to each other with recharging oil device, safety valve respectively; Control device links to each other with motor with storage battery respectively through electrical cable, and control device links to each other with joystick through the control signal connecting line; Control device also links to each other with the secondary signal transducer that is provided with on first signal transducer, hydraulic motor that are provided with on the motor respectively by the control signal connecting line.
Control device comprises control circuit board and motor-driven DC/DC converter, wherein control circuit board comprises filter circuit, microprocessor, photoelectric isolating circuit and power driving circuit, control circuit board is by input filter circuit acquisition instructions signal and first, second sensor signal, microprocessor carries out data operation to the signal that collects and handles the back output pwm signal, links to each other with the control end of power driving circuit with each power device of motor-driven DC/DC converter through photoelectric isolating circuit.
The technique effect that the present invention brings is:
1) utilize the electronic speed regulation mode, realize the stepless speed regulation of system, solved hydraulic system throttle grverning energy loss problem, the raising system carries out efficient.
2) utilize motor regenerative braking principle, the fork truck potential energy when fork truck kinetic energy when realizing the electri forklift braking deceleration and descending speed limit reclaims, and recuperated energy is stored in the storage battery.Save the energy, improve the technology content of electri forklift, enhance one's market competitiveness, have great using value, be easy to industrialization production.
Description of drawings
Fig. 1 is the electric forklift running driving control system structure chart with energy recuperation, and system is by storage battery 1, control device 2, and motor 3, hydraulic pump 4, hydraulic motor 5, safety valve 6, recharging oil device 7 and joystick 8 are formed.
Fig. 2 is the control device schematic diagram;
When Fig. 3 is the fork truck forward drive, drive current directional diagram during power tube VT1 conducting.
Fig. 4 is that fork truck advances when braking stalling current directional diagram during power tube VT2 conducting.
Fig. 5 is that fork truck advances when braking, feedback sense of current figure when power tube VT2 turn-offs.
Fig. 6 is that fork truck retreats when driving drive current directional diagram during power tube VT3 conducting.
Fig. 7 is that fork truck retreats when braking stalling current directional diagram during power tube VT4 conducting.
Fig. 8 is that fork truck retreats when braking, feedback sense of current figure when power tube VT4 turn-offs.
The present invention is described in more detail for the example that provides with the inventor down and in conjunction with the accompanying drawings.
Embodiment
The present invention includes lead acid accumulator 1, control device 2, permanent magnet brush direct current machine 3, hydraulic pump 4, hydraulic motor 5, safety valve 6, recharging oil device 7, joystick 8.Its interconnected relationship is as follows:
1) hydraulic pump 4 machineries that motor 3 is suitable with discharge capacity link to each other, and hydraulic pump 4 is formed enclosed volumetric speed control hydraulic circuit with hydraulic motor 5, and the two ends of hydraulic pump 4 and hydraulic motor 5 link to each other with feed circuit 7 with safety valve 6 respectively.
2) control device 2 links to each other with motor 3 with storage battery 1 respectively through electrical cable; And first signal transducer on control signal connecting line and joystick 8 and motor 3, the secondary signal transducer on the hydraulic motor 5 link to each other.
Control device comprises control circuit board and motor-driven DC/DC converter.Control circuit board comprises filter circuit as shown in Figure 2, microprocessor, photoelectric isolating circuit and power driving circuit.Microprocessor adopts DSP, and filter circuit adopts the filter circuit of typically being built by operational amplifier, and photoelectric isolating circuit is realized that by optocoupler power driving circuit adopts modularized design.The required various level of control device are provided through common DC/DC Switching Power Supply coupling by storage battery power supply.For the permanent magnet brush direct current machine, motor-driven DC/DC converter is made up of four power devices in the control device, and power device VT1 and VT2 form half-bridge, and VT3 and VT4 form half-bridge.The two ends and the storage battery of two groups of half-bridges are connected in parallel, and the centre of two groups of half-bridges is connected with motor windings respectively, form the full-bridge drive motors.
Operation principle of the present invention is as follows:
Control circuit board is through the signal of input filter circuit reception command signal and first, second signal transducer, and signal comprises electric moter voltage, current signal and hydraulic pump speed signal.Microprocessor carries out output pwm signal after the data processing to acquired signal, and the action through photoelectric isolating circuit and each power device of power driving circuit control motor-driven DC/DC converter realizes motor-driven and braking control.During motor-driven, the DC/DC converter works in decompression mode, and by regulating pwm signal duty cycle adjustment motor speed, because motor is connected with pump-motor is coaxial, corresponding change pump delivery is realized the stepless speed regulation of system.During motor braking, the DC/DC converter works in boost mode, and corresponding adjusting pwm signal duty cycle adjustment motor braking moment realizes the motor regenerative braking.Therefore native system can be realized the stepless speed regulation of electri forklift on the one hand; Braking kinetic energy in the time of realizing electri forklift retarding braking and descending speed limit on the other hand and fork truck potential energy reclaim.
When the electri forklift forward drive, the DC/DC converter works in decompression mode, and motor 3 works in first quartile, and storage battery 1 electric current flows into motor 3 through DC/DC converter positive, drives the rotation of motor 3 positive directions, and the sense of current as shown in Figure 3.Control device 2 is further regulated the ON time that the pwm signal duty ratio is controlled VT1 according to command signal and sensor signal, realizes the stepless speed regulation control of electri forklift.
When electri forklift advanced when braking or descending speed limit, the DC/DC converter worked in boost mode, and motor 3 works in second quadrant, and when power device VT2 conducting, motor 3 produces braking moment under the back electromotive force effect, and the sense of current as shown in Figure 4.When power device VT2 turn-offed, because the afterflow effect of motor 3 winding inductances, electric current can not be undergone mutation, and electric current is pumped in the storage battery 1 as a result, realized the charging in short-term to storage battery 1, and the sense of current as shown in Figure 5.Regulate the ON time of pwm signal duty ratio control VT2 this moment, control brake moment, restriction fork truck speed.
When electri forklift retreats driving constantly, the DC/DC converter works in decompression mode, and motor 3 works in third quadrant, and storage battery 1 electric current drives motor 3 opposite spins through the anti-phase inflow motor 3 of DC/DC converter, and the sense of current as shown in Figure 6.Control device 2 is further regulated the ON time that the pwm signal duty ratio is controlled VT1 according to command signal and sensor signal, realizes the stepless speed regulation control of electri forklift.
When electri forklift retreats braking constantly, the DC/DC converter works in boost mode, and motor 3 works in second quadrant, and when power device VT4 conducting, motor 3 produces braking moment under the back electromotive force effect, and the sense of current as shown in Figure 7.When power device VT4 turn-offed, because the afterflow effect of motor 3 winding inductances, electric current can not be undergone mutation, and electric current is pumped in the storage battery 1 as a result, realized the charging in short-term to storage battery 1, and the sense of current as shown in Figure 8.
Claims (8)
1. electric forklift running driving control system with energy recuperation, this system comprises storage battery (1), control device (2), motor (3), hydraulic pump (4), hydraulic motor (5), safety valve (6), recharging oil device (7), joystick (8); Hydraulic pump (4) mechanical connection that motor (3) is suitable with discharge capacity, hydraulic pump (4) and hydraulic motor (5) parallel connection, hydraulic pump (4) constitutes enclosed volumetric speed control hydraulic circuit with hydraulic motor (5), and the two ends of hydraulic pump (4) and hydraulic motor (5) link to each other with recharging oil device (7), safety valve (6) respectively; Control device (2) links to each other with motor (3) with storage battery (1) respectively through electrical cable, and control device (2) links to each other with joystick (8) through the control signal connecting line; Control device (2) is also gone up the secondary signal transducer that is provided with first signal transducer, hydraulic motor (5) that motor (3) upward is provided with respectively by the control signal connecting line and is linked to each other.
2. the electric forklift running driving control system with energy recuperation as claimed in claim 1 is characterized in that described storage battery is lead-acid battery or lithium battery or Ni-MH battery.
3. the electric forklift running driving control system with energy recuperation as claimed in claim 1 is characterized in that described motor is permanent-magnet brushless DC electric machine or permanent magnet brush direct current machine.
4. the electric forklift running driving control system with energy recuperation as claimed in claim 1, it is characterized in that, described control device (2) comprises control circuit board and motor-driven DC/DC converter, wherein control circuit board is by input filter circuit, microprocessor, output photoelectric isolating circuit and power device drive circuit are formed, and motor-driven DC/DC converter is made up of power device.
5. the electric forklift running driving control system with energy recuperation as claimed in claim 4 is characterized in that, described microprocessor is one of single-chip microcomputer, DSP, CPLD or FPGA.
6. the electric forklift running driving control system with energy recuperation as claimed in claim 4, it is characterized in that, for the permanent magnet brush direct current machine, motor-driven DC/DC converter is made up of four power devices in the control device, power device VT1 and VT2 form half-bridge, and VT3 and VT4 form half-bridge; The two ends of two groups of half-bridges and storage battery (1) are connected in parallel, and the centre of two groups of half-bridges is connected with the winding of motor (3) respectively, form the full-bridge drive motors.
7. the electric forklift running driving control system with energy recuperation as claimed in claim 4, it is characterized in that the power device of motor-driven DC/DC converter adopts power transistor GTR or metal oxide-semiconductor field effect transistor MOSFET or insulating gate type bipolar transistor IGBT or gate turn off thyristor GTO or power transistor in the described control device.
8. the electric forklift running driving control system with energy recuperation as claimed in claim 4, it is characterized in that described DC/DC converter using Boost, Buck, Cuk, Forward or F1yback converter one of them or its various converters that constitute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100426048A CN100370687C (en) | 2006-03-31 | 2006-03-31 | Electric forklift running driving control system having energy recovery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100426048A CN100370687C (en) | 2006-03-31 | 2006-03-31 | Electric forklift running driving control system having energy recovery |
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| Publication Number | Publication Date |
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| CN1835378A CN1835378A (en) | 2006-09-20 |
| CN100370687C true CN100370687C (en) | 2008-02-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006100426048A Expired - Fee Related CN100370687C (en) | 2006-03-31 | 2006-03-31 | Electric forklift running driving control system having energy recovery |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8087733B2 (en) * | 2008-12-09 | 2012-01-03 | Développement Effenco Inc. | Braking energy recovery system for a vehicle and vehicle equipped with the same |
| CN102390262B (en) * | 2011-09-08 | 2013-11-06 | 王悠 | Vehicle potential-energy recycling and safety brake control system |
| US8840524B2 (en) | 2012-01-11 | 2014-09-23 | Développement Effenco Inc. | Fuel saving system that facilitates vehicle re-starts with the engine off |
| CN104691538B (en) * | 2015-03-05 | 2017-09-29 | 中国人民解放军总后勤部建筑工程研究所 | A kind of hybrid electric vehicle brake energy recovering system and method based on static pressure transmission |
| CN104831774B (en) * | 2015-04-16 | 2017-07-07 | 湖南网大科技有限公司 | A kind of loading machine walking Brake energy recovery auxiliary drive and control method |
| CN108883735B (en) | 2016-02-16 | 2022-07-01 | 埃芬科发展公司 | Extended functionality stop-start fuel saving system for industrial vehicles |
| CN108910788A (en) * | 2018-06-28 | 2018-11-30 | 江苏理工学院 | Telescopic arm forklift truck and the hydraulic system impacted for improving its starting |
| CN114180478B (en) * | 2021-11-09 | 2023-02-07 | 中联重科股份有限公司 | Method, processor and device for hoisting mechanism, hoisting mechanism and crane |
Citations (6)
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|---|---|---|---|---|
| JPH07315793A (en) * | 1994-05-30 | 1995-12-05 | Nissan Motor Co Ltd | Fluid pressure circuit in cargo handling vehicle |
| CN2291407Y (en) * | 1996-11-22 | 1998-09-16 | 刘水章 | Double hydraulic motor driving device for electric balanced heavy-duty fork-lift truck |
| CN2292785Y (en) * | 1996-11-22 | 1998-09-30 | 马保柱 | Two-motor drive for motor-driven counterbalanced lift truck |
| CA2210439A1 (en) * | 1997-07-15 | 1999-01-15 | Gordon Freedman | Electro-hydraulic control system for electric industrial trucks |
| JP2001224190A (en) * | 2000-02-07 | 2001-08-17 | Mitsubishi Heavy Ind Ltd | Regenerative control circuit of dc separately exited shunt motor and its regenerative control method |
| CN1405079A (en) * | 2001-08-13 | 2003-03-26 | 同济大学 | Fully-hydraulic electric fork truck |
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2006
- 2006-03-31 CN CNB2006100426048A patent/CN100370687C/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07315793A (en) * | 1994-05-30 | 1995-12-05 | Nissan Motor Co Ltd | Fluid pressure circuit in cargo handling vehicle |
| CN2291407Y (en) * | 1996-11-22 | 1998-09-16 | 刘水章 | Double hydraulic motor driving device for electric balanced heavy-duty fork-lift truck |
| CN2292785Y (en) * | 1996-11-22 | 1998-09-30 | 马保柱 | Two-motor drive for motor-driven counterbalanced lift truck |
| CA2210439A1 (en) * | 1997-07-15 | 1999-01-15 | Gordon Freedman | Electro-hydraulic control system for electric industrial trucks |
| JP2001224190A (en) * | 2000-02-07 | 2001-08-17 | Mitsubishi Heavy Ind Ltd | Regenerative control circuit of dc separately exited shunt motor and its regenerative control method |
| CN1405079A (en) * | 2001-08-13 | 2003-03-26 | 同济大学 | Fully-hydraulic electric fork truck |
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| CN1835378A (en) | 2006-09-20 |
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Granted publication date: 20080220 Termination date: 20110331 |