CN103112804B - A kind of control setup of industrial vehicle lifting mechanism and control method - Google Patents
A kind of control setup of industrial vehicle lifting mechanism and control method Download PDFInfo
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- CN103112804B CN103112804B CN201310044634.2A CN201310044634A CN103112804B CN 103112804 B CN103112804 B CN 103112804B CN 201310044634 A CN201310044634 A CN 201310044634A CN 103112804 B CN103112804 B CN 103112804B
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Abstract
The invention discloses a kind of control setup and control method of industrial vehicle lifting mechanism, control setup comprises fuel tank, quantitative hydraulic pump, drive the motor that described quantitative hydraulic pump rotates, with the by pass valve of described quantitative hydraulic pump outlet, check valve, hydraulic ram, be arranged on the solenoid directional control valve between described check valve and described hydraulic ram, be communicated with and the electromagnetic proportional valve in parallel with described solenoid directional control valve with described hydraulic pump outlet, open and close for controlling described motor, control described solenoid directional control valve opening and closing and control the Programmable Logic Controller of described electromagnetic proportional valve opening aperture and the ratio lifting button being provided with raise button and decline button be connected with described Programmable Logic Controller and weighing system.The control setup of industrial vehicle lifting mechanism of the present invention and control method, can improve the service life of quantitative hydraulic pump and motor, reduces energy consumption, and reduce to impact, operate steadily, safety is good, registration, and whole system efficiency is high.
Description
Technical field
The present invention relates to industrial vehicle technical field, relate to a kind of control setup and control method of industrial vehicle lifting mechanism in particular.
Background technology
As fork truck, the industrial vehicles such as transport trolley, all be provided with the vehicle lifting got up by freight lifting, such as publication number CN201560102U, publication date is that the Chinese utility model patent on August 25th, 2010 discloses a kind of car fork bont and electri forklift, it utilizes reductor, leading screw, motor and chain etc., realize enhancing action, such bont, controlled by driven by motor screw mandrel, its structure is very complicated, with high costs, competitive power is low, be not suitable for large-scale promotion and application, so, people start the bont adopting fluid pressure type, hydraulic control device is utilized to control bont or lifting mechanism, complete lifting action, control setup comprises Hydraulic Pump, check valve, by pass valve etc., its structure is simple, highly versatile, but, also weak point is had: be limited to cost, what it adopted is all fix-displacement pump, general is all gear type pump, control system operation pressure is carried out with by pass valve, therefore, each lifting of bont is all rigidity, that is, Hydraulic Pump, motor is operated at full capacity eventually from starting from, the load promoted is heavier, also higher to the demanded power output of motor, like this, motor starts under often can be made to be in full load state, in the course of time, not only motor can be affected, the performance and used life of Hydraulic Pump, and cause the inefficiency of whole control setup, poor stability.
Summary of the invention
The object of the invention is for the deficiencies in the prior art part, provide a kind of control setup and control method of industrial vehicle lifting mechanism, it can improve the service life of quantitative hydraulic pump, motor etc., reduce energy consumption, speeds control is steady, and impact is little, safety is good, and work efficiency is high.
In order to solve the problems of the technologies described above, technical scheme of the present invention is as follows: a kind of control setup of industrial vehicle lifting mechanism, comprise fuel tank, quantitative hydraulic pump, drive the motor that described quantitative hydraulic pump rotates, with the by pass valve of described quantitative hydraulic pump outlet, check valve, hydraulic ram, be arranged on the solenoid directional control valve between described check valve and described hydraulic ram, be communicated with and the electromagnetic proportional valve in parallel with described solenoid directional control valve with described hydraulic pump outlet, open and close for controlling described motor, control described solenoid directional control valve opening and closing and control the Programmable Logic Controller of described electromagnetic proportional valve opening aperture, the weighing system for weighing industrial vehicle weighing load being provided with raise button and the ratio lifting button of decline button and being connected with described Programmable Logic Controller be connected with described Programmable Logic Controller, the oil inlet of described solenoid directional control valve is communicated with the oil outlet of described check valve, the actuator port of described solenoid directional control valve is communicated with described hydraulic ram, when described solenoid directional control valve is in original position, it is that hydraulic oil is from oil inlet to the one way channel of actuator port one-way flow, described electromagnetic proportional valve import, outlet are communicated with described Hydraulic Pump import, fuel tank respectively.
Control setup of the present invention, weighing system can be utilized to weigh industrial vehicle weighing load, then the result weighed according to weighing system by Programmable Logic Controller judges, open electromagnetic proportional valve when needs, realize without impacting soft start, reduce impact when electric motor starting, extend the service life of quantitative hydraulic pump and motor, reduce energy consumption, safety is good, speeds control is steady, and impact is little, and work efficiency is high.
As preferably, described quantitative hydraulic pump inlet is provided with filtering net.
Filtering net can ensure to enter the clean of quantitative hydraulic pump hydraulic oil, ensures the efficient work of whole control setup.
The control setup of described industrial vehicle lifting mechanism controls a control method for industrial vehicle lifting mechanism, comprises the following steps:
1. setting up procedure: the raise button of operation ratio lifting button, before electric motor starting, if the industrial vehicle weighing load that weighing system is weighed to is less than the first predetermined value, electromagnetic proportional valve opening aperture is 0, and motor normally starts; If the industrial vehicle weighing load that weighing system is weighed to is more than or equal to the first predetermined value, electromagnetic proportional valve opening aperture is adjusted by Programmable Logic Controller, electromagnetic proportional valve flow in the unit time is made to be greater than described quantitative hydraulic pump capacity, starter motor after the first delay duration T1, driven by electric motor starting described quantitative hydraulic pump to rotate the hydraulic oil produced instantaneously and be all back to fuel tank by electromagnetic proportional valve, realize flexible startup;
2. rise rate-determining steps; The mode be inversely proportional to industrial vehicle lifting mechanism ascending velocity and described electromagnetic proportional valve opening aperture controls the ascending velocity of described industrial vehicle lifting mechanism.
As preferably, also comprise step;
3. accurate positioning step; When industrial vehicle lifting mechanism rises to desired location time, the raise button of reset ratio lifting button, electromagnetic proportional valve opening aperture is adjusted by Programmable Logic Controller, make electromagnetic proportional valve can shunt the flow of described quantitative hydraulic pump, then disable motor, after the second delay duration T2, close electromagnetic proportional valve, realize accurate location when industrial vehicle lifting mechanism rises to desired location.
By above-mentioned control method, can the different situations of or underloading unloaded for industrial vehicle lifting mechanism, carry out flexible selection to start, only have and just carry out flexibility startup when weighing load reaches and needs flexible startup time, improve work efficiency and the control effects of whole system, reduce big current to the impact of storage battery, motor etc., reduce energy consumption, ensure that the safety of whole system, improve the service life of each element of motor and quantitative hydraulic pump and all the other.When industrial vehicle lifting mechanism rises, by Controlled by Programmable Controller electromagnetic proportional valve opening aperture, realize the shunting to quantitative hydraulic pump exudate force feed, and then control industrial vehicle lifting mechanism ascending velocity, ensure that it steadily rises; When industrial vehicle lifting mechanism rises to desired location time, in order to avoid the impact that motor free-wheel brings industrial vehicle lifting mechanism position, make its location inaccuracy, we by electromagnetic proportional valve to carrying out flow shunt, these above-mentioned measures, ensure that the low energy consumption of control setup, without impact, safety and efficiency operation.
As preferably, also comprise step;
4. decline step; The decline button of operation ratio lifting button, when the industrial vehicle weighing load that described weighing system is weighed to is less than the second predetermined value, described solenoid directional control valve and described electromagnetic proportional valve are opened simultaneously, and the mode be directly proportional with industrial vehicle lifting mechanism descending speed and described electromagnetic proportional valve opening aperture controls the descending speed of described industrial vehicle lifting mechanism; The industrial vehicle weighing load be weighed to when described weighing system is more than or equal to the second predetermined value, if the changing value of decline button is less than preset value, then described electromagnetic proportional valve opening aperture is corresponding with changing value; If the changing value of decline button is more than or equal to preset value, then described electromagnetic proportional valve opening aperture is for presetting restriction opening aperture, after the 3rd delay duration T3, the changing value of described electromagnetic proportional valve opening aperture and decline button is corresponding, and the mode be directly proportional with industrial vehicle lifting mechanism descending speed and described electromagnetic proportional valve opening aperture controls the descending speed of described industrial vehicle lifting mechanism.
When declining, that carries out distinguishing according to industrial vehicle weighing load treats, to the zero load or the underloading that are less than the second predetermined value, solenoid directional control valve and described electromagnetic proportional valve are opened simultaneously, normal decline, because this time, load was light, impact very little, smooth decreasing, descending speed is controlled, when weighing load meets or exceeds the second predetermined value time, in conjunction with the changing value of decline button, if this changing value is less than preset value, then described electromagnetic proportional valve opening aperture is corresponding with changing value, if exceed preset value, then electromagnetic proportional valve opening aperture is for presetting restriction opening aperture, if if prevent the changing value of decline button excessive, such as 50%, 60% etc., cause the uncontrollable of descending speed, shake, impact, improve stability and the safety of whole system.
As preferably, described step 1. in, before electric motor starting, when the industrial vehicle weighing load that weighing system is weighed to is more than or equal to the first predetermined value, adjustment electromagnetic proportional valve opening aperture is maximum; Described first delay duration T1 scope is 0.3-1s.
As much as possible the hydraulic oil that quantitative hydraulic pump is discharged is shunted the case that deoils, reduce to impact and energy consumption, ensure safety.Under the condition that satisfied flexibility starts, reduce the time as much as possible, increase work efficiency.
As preferably, described step 3. in, when industrial vehicle lifting mechanism rises to desired location time, the raise button of operation ratio lifting button, adjustment electromagnetic proportional valve is maximum to opening aperture; Described second delay duration T2 is 1.0-2.0s.
As much as possible the hydraulic oil that quantitative hydraulic pump is discharged is shunted the case that deoils, reduce to impact and energy consumption, ensure safety.Under the condition that satisfied flexibility starts, reduce the time as much as possible, increase work efficiency.
As preferably, described step 2. in, determine the analog quantity numerical value of described ratio lifting button raise button with averaging method at interval of 10-20ms.
Because people is when pressing the raise button of ratio lifting button, its position is actually and is changing always, and therefore, adopting above-mentioned measure to ensure, that industrial vehicle lifting mechanism rises is steady; Interval time arranges too short, and the aperture of electromagnetic proportional valve opening may be caused repeatedly to be adjusted, and causes whole control setup speed stable not; Arrange long, may cause the sensation that adjustment is delayed, above-mentioned scope reaches balance between the two.
As preferably, described step 4. in, determine the analog quantity numerical value of described ratio lifting button decline button with averaging method at interval of 10-20ms.
Because people is when pressing the decline button of ratio lifting button, its position is actually and is changing always, and therefore, adopting above-mentioned measure to ensure, that industrial vehicle lifting mechanism declines is steady; Interval time arranges too short, and the aperture of electromagnetic proportional valve opening may be caused repeatedly to be adjusted, and causes whole control setup speed stable not; Arrange long, may cause the sensation that adjustment is delayed, above-mentioned scope reaches balance between the two.
Beneficial effect of the present invention is:
Can improve the service life of quantitative hydraulic pump, motor etc., reduce energy consumption, speeds control is steady, and impact is little, and safety is good, and work efficiency is high.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is described further:
Fig. 1 is the structural representation of the embodiment of the present invention 1.
In figure:
1-fuel tank;
2-quantitative hydraulic pump;
3-motor;
4-by pass valve;
5-check valve;
6-hydraulic ram;
7-solenoid directional control valve;
8-electromagnetic proportional valve;
9-filter;
10-Programmable Logic Controller;
11-ratio lifting button;
13-weighing system.
Detailed description of the invention
The following stated is only preferred embodiment of the present invention, not limits scope of the present invention.
Embodiment, see the control setup of accompanying drawing 1 one kinds of industrial vehicle lifting mechanisms, comprise fuel tank 1, quantitative hydraulic pump 2, drive the motor 3 that described quantitative hydraulic pump 2 rotates, with the by pass valve 4 of described quantitative hydraulic pump 2 outlet, check valve 5, hydraulic ram 6, be arranged on the solenoid directional control valve 7 between described check valve 5 and described hydraulic ram 6, with described Hydraulic Pump 2 outlet and the electromagnetic proportional valve 8 in parallel with described solenoid directional control valve 7, open and close for controlling described motor 3, control the opening and closing of described solenoid directional control valve 7 and control the Programmable Logic Controller 10 of described electromagnetic proportional valve 8 opening aperture, the weighing system 13 for weighing industrial vehicle weighing load being provided with raise button and the ratio lifting button 11 of decline button and being connected with described Programmable Logic Controller 10 be connected with described Programmable Logic Controller 10, described weighing system 13 comprises LOAD CELLS, for weighing the weighing load of industrial vehicle, the oil inlet P of described solenoid directional control valve 7 is communicated with the oil outlet of described check valve 5, the actuator port A of described solenoid directional control valve 7 is communicated with described hydraulic ram 6, when described solenoid directional control valve 7 is in original position, it is that hydraulic oil is from oil inlet P to the one way channel of actuator port A one-way flow, the import of described electromagnetic proportional valve 8, outlet are communicated with the import of described Hydraulic Pump 2, fuel tank 1 respectively, electromagnetic proportional valve 8 is proportional throttle valve, the import of described electromagnetic proportional valve 8, outlet are communicated with the import of described Hydraulic Pump 2, fuel tank 1 respectively, can shunt or off-load when needing to the flow that quantitative hydraulic pump 2 is discharged.
A kind of method utilizing the control setup of described industrial vehicle lifting mechanism to control industrial vehicle lifting mechanism
1. setting up procedure: the raise button pressing the ratio lifting button 11 such as (can certainly rotate, slip mode), the ratio of pressing is a1%, and the raise button analog quantity numerical value corresponding to 0%-100% is 0-2
n, wherein the value of n is 4, 6, 8, 10, 11, 12 ... .., in the present embodiment, raise button analog quantity numerical value corresponding to 0%-100% is 0-4096, Programmable Logic Controller 10 detects the analog signals of raise button, meeting (system failure under the state that can promote, the situations such as lifting state is unrestricted), before motor 3 starts, weighed by weighing system 13 pairs of industrial vehicle weighing loads, described weighing system 13 can export an on-off signal or analog signals to Programmable Logic Controller 10, if on-off signal, can define by weighing system 13, when weighing load>=the first predetermined value (can be 300, 400kg, numerical value is according to actual set), on-off signal is triggered, when weighing load < first predetermined value, on-off signal is not triggered, and if analog signals, can define by weighing system 13, export a 0 ~ 5V(0 ~ 5K) voltage signal, corresponding corresponding weighing load, 0V represents unloaded, and 5V represents specified heavy duty, if the industrial vehicle weighing load that weighing system 13 is weighed to is less than the first predetermined value, first predetermined value can be arranged according to actual, can be 300Kg, 400 Kg etc., after the industrial vehicle weighing load be weighed to is less than the first predetermined value, electromagnetic proportional valve 8 opening aperture is 0, and namely electromagnetic proportional valve 8 is closed, and do not open, now, motor 3 normally starts, if the industrial vehicle weighing load that weighing system 13 is weighed to is more than or equal to the first predetermined value, when weighing system 13 export be on-off signal time, electromagnetic proportional valve 8 opening aperture is adjusted by Programmable Logic Controller 10, electromagnetic proportional valve 8 flow in the unit time is made to be greater than described quantitative hydraulic pump 2 discharge capacity, preferably, in unit time, electromagnetic proportional valve 8 flow is 2-3 times of quantitative hydraulic pump 2 discharge capacity, ensure that the hydraulic oil that quantitative hydraulic pump 2 is discharged all returns fuel tank 1 by electromagnetic proportional valve 8, further, electromagnetic proportional valve 8 opening aperture is maximum, namely 100% standard-sized sheet, starter motor 3 after the first delay duration T1, starts motor 3 and drives described quantitative hydraulic pump 2 to rotate produced hydraulic oil instantaneously to be all back to fuel tank 1 by electromagnetic proportional valve 8, and realize flexible startup, preferably, the first delay duration T1 scope is 0.3-1s, when weighing system 13 provides analog signals b V, electromagnetic proportional valve 8 opening aperture is adjusted by Programmable Logic Controller 10, its opening aperture is made to be b*100%/5+ △ B, wherein, △ B is apportioning valve aperture correction side-play amount, electromagnetic proportional valve 8 flow in the unit time is made to be greater than described quantitative hydraulic pump 2 discharge capacity, starter motor 3 after the first delay duration T1, first delay duration T1 scope is 0.3-1s, can either ensure that the hydraulic oil that quantitative hydraulic pump 2 is discharged all returns fuel tank 1 by electromagnetic proportional valve 8 like this, be unlikely to again to make electromagnetic proportional valve 8 opening aperture excessive, affect service life, increase energy consumption.
2. rise rate-determining steps; Described industrial vehicle lifting mechanism ascending velocity is controlled in the mode that industrial vehicle lifting mechanism ascending velocity and described electromagnetic proportional valve 8 opening aperture are inversely proportional to; Start normally at motor 3, Programmable Logic Controller 10 is by the calculating to sampling, and in conjunction with the characteristic curve of electromagnetic proportional valve 8 opening aperture, port is driven by the electric current carried, the electric current I 0 that adjustment exports, the opening aperture ratio of electromagnetic proportional valve 8 is adjusted to 1-a1%+ △ a, and △ a is proportional error coefficient.For reaching optimal speeds control effect, industrial vehicle lifting mechanism is operated steadily, the optimization of system can be carried out (according to the characteristic different phase of apportioning valve by regulating the numerical value of △ a, the value of △ a is different), we adopt averaging method, the analog quantity numerical value of the raise button of described ratio lifting button 11 is determined at interval of the △ t time, within the △ t time, the raise button of Programmable Logic Controller 10 comparative example lifting button 11 carries out analog quantity numerical value and carries out N1 sampling, then each sample magnitude in △ t is carried out cumulative analog quantity numerical value S=S1+S2+ ... + SN1, by calculating: a1%=S/ N1/4096, △ t parameter is generally 10-20ms, the parameter of N1 is generally 5-20.
The optimum configurations of interval time △ t is too short, electromagnetic proportional valve 8 opening aperture may be caused repeatedly to be adjusted, affect the smooth running of whole device, the optimum configurations of △ t is long, may cause the sensation that adjustment is delayed, △ t parameter is generally 10-20ms and then avoids above-mentioned bad situation generation.
3. accurate positioning step, when industrial vehicle lifting mechanism rises to desired location time, unclamp the raise button of ratio lifting button 11, now Programmable Logic Controller 10 samples a1%=0, electromagnetic proportional valve 8 opening aperture is adjusted by Programmable Logic Controller 10, electromagnetic proportional valve 8 flow in the unit time is made to be greater than described quantitative hydraulic pump 2 discharge capacity, preferably, in unit time, electromagnetic proportional valve 8 flow is 2-3 times of quantitative hydraulic pump capacity, ensure that the hydraulic oil that quantitative hydraulic pump 2 is discharged all returns fuel tank 1 by electromagnetic proportional valve 8, preferably, electromagnetic proportional valve 8 opening aperture is maximum, namely 100% standard-sized sheet, then disable motor 3, after the second delay duration T2, close electromagnetic proportional valve 8, preferably, the second delay duration T2 is 1.0-2.0s, realizes accurate location when industrial vehicle lifting mechanism rises to desired location.
4. decline rate-determining steps;
Press the decline button of ratio lifting button 11, the ratio of pressing is the raise button analog quantity numerical value corresponding to a2%, 0%-100% is 0-2
n, wherein the value of n is 4, 6, 8, 10, 11, 12 ... .., in the present embodiment, decline button analog quantity numerical value corresponding to 0%-100% is 0-4096, when the industrial vehicle weighing load that described weighing system 13 is weighed to is less than the second predetermined value, second predetermined value can be 300, 400, 500Kg, preset according to actual, Programmable Logic Controller 10 detects the analog signals of decline button, open solenoid directional control valve 7 and electromagnetic proportional valve 8 by Programmable Logic Controller 10 simultaneously, described industrial vehicle lifting mechanism descending speed is controlled in the mode that industrial vehicle lifting mechanism descending speed and described electromagnetic proportional valve 8 opening aperture are directly proportional, in decline process, Programmable Logic Controller 10 is by the calculating to sampling, and in conjunction with the characteristic curve of electromagnetic proportional valve 8 opening aperture, port is driven by the electric current carried, the electric current I 0 that adjustment exports, the opening aperture ratio of electromagnetic proportional valve 8 is adjusted to 1-a2%+ △ a, △ a is proportional error coefficient.For reaching optimal speeds control effect, industrial vehicle lifting mechanism is operated steadily, the optimization of system can be carried out (according to the characteristic different phase of apportioning valve by regulating the numerical value of △ a, the value of △ a is different), we adopt averaging method, the analog quantity numerical value of the decline button of described ratio lifting button 11 is determined at interval of the △ t time, within the △ t time, the decline button of Programmable Logic Controller 10 comparative example lifting button 11 carries out analog quantity numerical value and carries out N1 sampling, then each sample magnitude in △ t is carried out cumulative analog quantity numerical value S=S1+S2+ ... + SN1, by calculating: a1%=S/ N1/4096, △ t parameter is generally 10-20ms, the parameter of N1 is generally 5-20,
The industrial vehicle weighing load be weighed to when described weighing system 13 is more than or equal to the second predetermined value, if the changing value of decline button is less than preset value, preset value is generally the arbitrary numerical value in 20-30%, set according to actual conditions, in present embodiment, preset value is 30% of decline button alterable value, if the changing value of decline button is less than 30%, then described electromagnetic proportional valve 8 opening aperture is corresponding with changing value, described industrial vehicle lifting mechanism descending speed is controlled in the mode that industrial vehicle lifting mechanism descending speed and described electromagnetic proportional valve 8 opening aperture are directly proportional, if the changing value of decline button is more than or equal to preset value, then described electromagnetic proportional valve 8 opening aperture is for presetting restriction opening aperture, presetting restriction opening opening value is between 20-30%, maximum preset restriction opening aperture can not more than 30%, like this, even if the changing value of decline button is very large, such as 50%, 60%, 70%, also can ensure that electromagnetic proportional valve 8 opening aperture can not be excessive, can not more than 30%, decline hourly velocity can not be caused out of control, impact large, safety is good, speed is controlled, then through the 3rd delay duration T3(0.3-1s) after, the changing value of described electromagnetic proportional valve 8 opening aperture and decline button is corresponding, the mode be directly proportional with industrial vehicle lifting mechanism descending speed and described electromagnetic proportional valve 8 opening aperture controls the descending speed of described industrial vehicle lifting mechanism.
5. accurate positioning step; When industrial vehicle lifting mechanism drops to desired location time, unclamp the decline button of ratio lifting button, now Programmable Logic Controller 10 samples a2%=0, close solenoid directional control valve 7, after the 4th delay duration T4,4th delay duration T4 is 1-2s, closes electromagnetic proportional valve 8, realizes accurate location when industrial vehicle lifting mechanism drops to desired location.
More than illustrate it is only explanation of the invention, those of ordinary skill in the art's can completely is made to implement this programme, but be not limitation of the present invention, those skilled in the art can make to the present embodiment the amendment not having creative contribution as required after reading this specification sheets, and these are all not creative amendments.As long as but be all subject to the protection of patent law in right of the present invention.
Claims (7)
1. control a control method for industrial vehicle lifting mechanism, it is characterized in that comprising the following steps:
1. setting up procedure: the raise button of operation ratio lifting button (11), before motor (3) starts, if the industrial vehicle weighing load that weighing system (13) is weighed to is less than the first predetermined value, electromagnetic proportional valve (8) opening aperture is 0, and motor (3) normally starts; If the industrial vehicle weighing load that weighing system (13) is weighed to is more than or equal to the first predetermined value, electromagnetic proportional valve (8) opening aperture is adjusted by Programmable Logic Controller (10), electromagnetic proportional valve in the unit time (8) flow is made to be greater than quantitative hydraulic pump (2) discharge capacity, starter motor (3) after the first delay duration T1, motor (3) is started the hydraulic oil driving described quantitative hydraulic pump (2) to rotate instantaneously to produce and is all back to fuel tank (1) by electromagnetic proportional valve (8), realize flexible startup;
2. rise rate-determining steps; The mode be inversely proportional to industrial vehicle lifting mechanism ascending velocity and described electromagnetic proportional valve (8) opening aperture controls the ascending velocity of described industrial vehicle lifting mechanism.
2. a kind of control method controlling industrial vehicle lifting mechanism according to claim 1, is characterized in that: also comprise step;
3. accurate positioning step; When industrial vehicle lifting mechanism rises to desired location time, the raise button of reset ratio lifting button (11), electromagnetic proportional valve (8) opening aperture is adjusted by Programmable Logic Controller (10), make electromagnetic proportional valve (8) that the flow of described quantitative hydraulic pump (2) can be shunted, then disable motor (3), after the second delay duration T2, close electromagnetic proportional valve (8), realize accurate location when industrial vehicle lifting mechanism rises to desired location.
3. a kind of control method controlling industrial vehicle lifting mechanism according to claim 2, is characterized in that: also comprise step;
4. decline step; The decline button of operation ratio lifting button (11), when the industrial vehicle weighing load that described weighing system (13) is weighed to is less than the second predetermined value, described solenoid directional control valve (7) and described electromagnetic proportional valve (8) are opened simultaneously, and the mode be directly proportional with industrial vehicle lifting mechanism descending speed and described electromagnetic proportional valve (8) opening aperture controls the descending speed of described industrial vehicle lifting mechanism; The industrial vehicle weighing load be weighed to when described weighing system (13) is more than or equal to the second predetermined value, if the changing value of decline button is less than preset value, then described electromagnetic proportional valve (8) opening aperture is corresponding with changing value; If the changing value of decline button is more than or equal to preset value, then described electromagnetic proportional valve (8) opening aperture is for presetting restriction opening aperture, after the 3rd delay duration T3, the changing value of described electromagnetic proportional valve (8) opening aperture and decline button is corresponding, and the mode be directly proportional with industrial vehicle lifting mechanism descending speed and described electromagnetic proportional valve (8) opening aperture controls the descending speed of described industrial vehicle lifting mechanism.
4. a kind of control method controlling industrial vehicle lifting mechanism according to claim 1 or 2 or 3, it is characterized in that: described step 1. in, before motor (3) starts, when the industrial vehicle weighing load that weighing system (13) is weighed to is more than or equal to the first predetermined value, adjustment electromagnetic proportional valve (8) opening aperture is maximum; Described first delay duration T1 scope is 0.3-1s.
5. a kind of control method controlling industrial vehicle lifting mechanism according to claim 3, it is characterized in that: described step 3. in, when industrial vehicle lifting mechanism rises to desired location time, the raise button of operation ratio lifting button (11), adjustment electromagnetic proportional valve (8) is maximum to opening aperture; Described second delay duration T2 is 1.0-2.0s.
6. a kind of control method controlling industrial vehicle lifting mechanism according to claim 3, is characterized in that: described step 2. in, determine the analog quantity numerical value of described ratio lifting button (11) raise button with averaging method at interval of 10-20ms.
7. a kind of control method controlling industrial vehicle lifting mechanism according to claim 3, is characterized in that: described step 4. in, determine the analog quantity numerical value of described ratio lifting button (11) decline button with averaging method at interval of 10-20ms.
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| DE3610254A1 (en) * | 1986-03-26 | 1987-10-01 | Kamag Transporttech Gmbh | Vehicle train for bulky loads and a method for controlling the vehicle train |
| SU1583348A1 (en) * | 1987-07-06 | 1990-08-07 | Всесоюзный научно-исследовательский, проектно-конструкторский и технологический институт безрельсового электрифицированного транспорта с опытным производством | Hydraulic drive for pulling device |
| CN201890751U (en) * | 2010-11-08 | 2011-07-06 | 湖北三江航天万山特种车辆有限公司 | Automatic lifting control system for high-power hydraulic engineering trucks |
| CN102434502A (en) * | 2011-12-23 | 2012-05-02 | 四川大学 | Frequency-conversion pump controlled steering hydraulic system for loader |
| CN203095544U (en) * | 2013-02-05 | 2013-07-31 | 浙江诺力机械股份有限公司 | Control device of industrial vehicle lifting mechanism |
| CN103213923A (en) * | 2013-04-11 | 2013-07-24 | 浙江诺力机械股份有限公司 | Control system and control method for industrial vehicle lifting mechanism |
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| CN103112804A (en) | 2013-05-22 |
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