CN102756656A - Controller for separately-excited direct-current travelling motor for electric forklift - Google Patents

Controller for separately-excited direct-current travelling motor for electric forklift Download PDF

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Publication number
CN102756656A
CN102756656A CN2012102706852A CN201210270685A CN102756656A CN 102756656 A CN102756656 A CN 102756656A CN 2012102706852 A CN2012102706852 A CN 2012102706852A CN 201210270685 A CN201210270685 A CN 201210270685A CN 102756656 A CN102756656 A CN 102756656A
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CN
China
Prior art keywords
signal unit
module
controller
current
excitation
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Application number
CN2012102706852A
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Chinese (zh)
Inventor
王大方
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遵义天义利威机电有限责任公司
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Priority to CN2012102706852A priority Critical patent/CN102756656A/en
Publication of CN102756656A publication Critical patent/CN102756656A/en

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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/60Other road transportation technologies with climate change mitigation effect
    • Y02T10/64Electric machine technologies in electromobility
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/16Information or communication technologies improving the operation of electric vehicles

Abstract

The invention discloses a controller for a separately-excited direct-current travelling motor for an electric forklift. The controller comprises an input module, a digital signal processing module, a communication module, and an output drive module, wherein the input module comprises a KSL voltage signal unit, a B+ voltage signal unit, an interlocking signal unit, a direction signal unit, a pedal signal unit, an excitation and armature current signal unit, and a mode selection signal unit; the digital signal processing module (DSP (digital signal processor)) uses TMS320LF2406A; and the communication module uses a CAN (controller area network) communication interface, the output drive module uses an excitation full-bridge control circuit, and the modules are electrically connected with each other. The controller disclosed by the invention can be used for effectively controlling and protecting the direct-current travelling motor for an electric forklift, and realizing safe running of the forklift.

Description

Electri forklift is with separate excitation direct current movable motor controller

Technical field

The present invention relates to electri forklift with separate excitation direct current movable motor controller, belong to technical field of automotive electronics.

Background technology

All the time; Factory floor mostly adopts combustion engine as engine installation with fork truck; Control is simple, and technology is ripe relatively, but noise and its field of application that polluted big limitations in the high standard workshop; And energy utilization rate is relatively low, can't accomplish technical requirementss such as braking energy recovery, electric braking.

Novel forklift adopts separately excited machine as control body, i.e. the effect of separately excited machine in electri forklift is the electric energy that receives battery pack, and is converted into mechanical energy, for the car load walking provides power.The quality of separately excited machine controller characteristic curve has directly influenced the quality of fork truck driving performance.

Summary of the invention

The objective of the invention is for realizing electri forklift, and when it moves, carry out the real-time guard of temperature, electric current and voltage, provide a kind of electri forklift to use the separately excited DC machine controller with separate excitation direct current movable motor Properties Control.

For realizing above-mentioned purpose, technical scheme of the present invention is:

Electri forklift is with separate excitation direct current movable motor controller; Comprise load module, digital signal processing module, communication module and output driver module, wherein load module comprises KSI voltage signal unit, B+ voltage signal unit, interlocking signal unit, direction signal unit, pedal signal unit, excitation and armature current signal unit, mode select signal unit; Described digital signal processing module (DSP) uses TMS320LF2406A; Said communication module adopts the CAN communication interface, and the output driver module adopts excitation full-bridge, armature half-bridge control circuit, and each module is electrically connected.

Adopt the beneficial effect of technique scheme to be:

1. the size and Orientation of current excitation of accuracy control and armature current is realized the accuracy control of torque, and is played the current-limiting protection effect;

2. prevent that combining moment big electric current to occur at main contactor burns device;

3. the driving phenomenon when preventing to start.

4. through detecting the low side electric resistance partial pressure, after amplifying, send into DSP, energetic optimum control has reduced the influence of its on-off signal to cell pressure after the realization adhesive after filtering;

5. the closed loop control of excitation armature current is accomplished in 62.5us interrupts, realized the distribution of DSP s operation control reasonable resources;

6. through control excitation and armature current accuracy control braking torque,, realize the experience of fork truck optimum drive in conjunction with fork truck present speed and chaufeur input pedal position.

7. realize the access of data between DSP and the EEPROM, real time recording fork truck operation conditions is for fault detection and debugging facilitate;

8. be the structure radiating element of the switching power tube reliable design of excitation and armature circuit, the heat radiation reliability when realizing the long-time high-power operation of controller.

9. optional four kinds of master modes provide four kinds of different driving to experience;

10. adopt the CAN communication interface, can realize the online in real time adjustment of controller parameter.

Description of drawings

Fig. 1 is the structured flowchart of fork truck according to the invention with separate excitation direct current movable motor controller.

Fig. 2 is that fork truck according to the invention is with separate excitation direct current movable motor controller handler diagram of circuit.

The specific embodiment

Below in conjunction with accompanying drawing fork truck of the present invention is described further with separate excitation direct current movable motor controller.

Said electri forklift is with separate excitation direct current movable motor controller; Comprise load module, digital signal processing module, communication module and output driver module, wherein load module comprises KSI voltage signal unit, B+ voltage signal unit, interlocking signal unit, direction signal unit, pedal signal unit, excitation and armature current signal unit, mode select signal unit; Described digital signal processing module (DSP) uses TMS320LF2406A; Said communication module adopts the CAN communication interface, and the output driver module adopts excitation full-bridge control circuit, and each module is electrically connected, and is as shown in Figure 1.

Fork truck of the present invention is controlled according to current driver's control signal and fork truck current state with separate excitation direct current movable motor controller.Concrete principle is: when chaufeur assigned direction signal and pedal signal; Controller is through detecting current excitation and armature current; In conjunction with the hand weaving setup parameter; Decision increases or reduces excitation and armature dutycycle, thereby the fork truck takeoff output is smoothly controlled, and has reached optimum drive control and has experienced.Said fork truck is with separate excitation direct current movable motor controller handler, this program by the initialization of following function weaving: DSP, read the EEPROM data, measure and confirm excitation armature current zero point, open that timer interrupts, principal function while (1) circulation is accomplished CAN with letter.Accomplish in the timer interrupt function to the detection of the detection of the detection of chaufeur incoming signal, current armature and exciting current and control, main contactor current state and control, controller when the detection of prior fault, controller when the real-time detection of the LED of prior fault and the output of IO level, controller temperature voltage etc.

Working process of the present invention: with chaufeur forward cruising, pedal voltage signal be 50% to be example, concrete control policy is: according to the pedal incoming signal, bridge dutycycle increase in direct ratio under the armature; So armature current increases, according to exciting current and armature current map figure corresponding relation, the corresponding increase of exciting current; Motor output torque increases, and fork truck quickens, and the armature counter electromotive force increases; Cause armature current to reduce, fork truck reaches dynamic balance state gradually; Be obstructed when fork truck advances, speed reduces, and the armature counter electromotive force reduces, and armature current increases; Exciting current increases, and motor output torque increases, and fork truck is attempted to overcome resistance and moved on, as successfully overcoming resistance; Move on, then armature and exciting current reduce, until reaching dynamical equilibrium; As can not overcome resistance, then armature current is limited in the pedal 50% signal current corresponding upper limit no longer increases, and has protected driving circuit not burnt out.

The defencive function of this controller can be divided into four types, is respectively: current protection, voltage protection, temperature protection, runaway protection.Below be each defencive function implementation procedure:

current protection: the current protection higher limit can be set through hand-hold programmer; Mainly be when motor rotation blockage or short circuit, can judge and make action rapidly; Turn-off the control signal output signal, protection smd controller and motor.Specific embodiments is: adopt Hall element to measure the magnetic field size of armature and exciting current generation, thus the forward and reverse size of current of accuracy control, when surpassing last pwm output, protection motor and the controller of in time reducing in limited time.

voltage protection: through the precision resistance dividing potential drop between power supply and the ground; Ratio is calculated can get system voltage; If exceed allowed band; Then reduce even turn-off armature current output, prevent that components and parts from suffering damage;

temperature protection: use to be close to the temperature sensor on the controller radiator structure spare; Carry out the in-to-in analogue to digital conversion; When excess temperature, reduce to prevent that until turn-offing armature current signal output components and parts from suffering damage.

4. runaway protection: high pedal is forbidden and static interlocking (optional), the driving phenomenon when preventing to start.Concrete implementation is: when chaufeur is got on the bus; Pin has been placed on the acceleration pedal because of carelessness, powers on to car with key then, and then controller acquiescence chaufeur is not intended to quicken; The pedal of offering a high price is forbidden fault; Cause the accident thereby make a dash after avoiding driving, when chaufeur leaves acceleration pedal to pin, then fault is removed automatically; Static interlocking is the switch of security protection on chaufeur driver seat or driving control panel, can guarantee that fork truck the driving phenomenon can not occur and cause the accident under the driverless operation state.

Claims (1)

1. an electri forklift is with separate excitation direct current movable motor controller; It is characterized in that: this controller comprises load module, digital signal processing module, communication module and output driver module, and wherein load module comprises KSL voltage signal unit, B+ voltage signal unit, interlocking signal unit, direction signal unit, pedal signal unit, excitation and armature current signal unit, mode select signal unit; Described digital signal processing module (DSP) uses TMS320LF2406A; Said communication module adopts the CAN communication interface, and the output driver module adopts excitation full-bridge control circuit, and each module is electrically connected.
CN2012102706852A 2012-08-01 2012-08-01 Controller for separately-excited direct-current travelling motor for electric forklift CN102756656A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2012102706852A CN102756656A (en) 2012-08-01 2012-08-01 Controller for separately-excited direct-current travelling motor for electric forklift

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2012102706852A CN102756656A (en) 2012-08-01 2012-08-01 Controller for separately-excited direct-current travelling motor for electric forklift

Publications (1)

Publication Number Publication Date
CN102756656A true CN102756656A (en) 2012-10-31

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104852647A (en) * 2015-05-21 2015-08-19 遵义天义利威机电有限责任公司 DC separately excited machine controller
CN108528271A (en) * 2018-03-29 2018-09-14 安徽合力股份有限公司 A kind of electri forklift trailer system progress control method and system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN200997069Y (en) * 2006-08-21 2007-12-26 遵义天义利威机电有限责任公司 Multi-mode programmable controller of electric automobile
CN201116080Y (en) * 2006-12-15 2008-09-17 奇瑞汽车股份有限公司 Motor controller for hybrid power automobile based on DSP
CN101565003A (en) * 2009-06-08 2009-10-28 奇瑞汽车股份有限公司 Motor controller of electric automobile and control method thereof
CN201536337U (en) * 2009-06-17 2010-07-28 官洪运 DSP-based direct-current motor controller based on
CN101860297A (en) * 2010-05-25 2010-10-13 东南大学 Permanent-magnet synchronous machine control system based on DSP (digital signal processor) control and method
CN201721348U (en) * 2010-05-25 2011-01-26 浙江吉利汽车研究院有限公司 Motor controller integrating whole automobile control function
CN202727994U (en) * 2012-08-01 2013-02-13 遵义天义利威机电有限责任公司 Separate excitation DC (direct-current) walking motor controller for electronic forklift

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN200997069Y (en) * 2006-08-21 2007-12-26 遵义天义利威机电有限责任公司 Multi-mode programmable controller of electric automobile
CN201116080Y (en) * 2006-12-15 2008-09-17 奇瑞汽车股份有限公司 Motor controller for hybrid power automobile based on DSP
CN101565003A (en) * 2009-06-08 2009-10-28 奇瑞汽车股份有限公司 Motor controller of electric automobile and control method thereof
CN201536337U (en) * 2009-06-17 2010-07-28 官洪运 DSP-based direct-current motor controller based on
CN101860297A (en) * 2010-05-25 2010-10-13 东南大学 Permanent-magnet synchronous machine control system based on DSP (digital signal processor) control and method
CN201721348U (en) * 2010-05-25 2011-01-26 浙江吉利汽车研究院有限公司 Motor controller integrating whole automobile control function
CN202727994U (en) * 2012-08-01 2013-02-13 遵义天义利威机电有限责任公司 Separate excitation DC (direct-current) walking motor controller for electronic forklift

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104852647A (en) * 2015-05-21 2015-08-19 遵义天义利威机电有限责任公司 DC separately excited machine controller
CN108528271A (en) * 2018-03-29 2018-09-14 安徽合力股份有限公司 A kind of electri forklift trailer system progress control method and system

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Application publication date: 20121031