CN102756656A

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

Info

Publication number: CN102756656A
Application number: CN2012102706852A
Authority: CN
Inventors: 王大方
Original assignee: ZUNYI TIANYI LIWEI ELECTROMECHANICAL CO Ltd
Current assignee: ZUNYI TIANYI LIWEI ELECTROMECHANICAL CO Ltd
Priority date: 2012-08-01
Filing date: 2012-08-01
Publication date: 2012-10-31

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:

Figure 2012102706852100002DEST_PATH_IMAGE002

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.

Figure 2012102706852100002DEST_PATH_IMAGE004

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;

Figure 2012102706852100002DEST_PATH_IMAGE006

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. 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.