CN103187916B - Motor control system for electric fork-lift truck - Google Patents
Motor control system for electric fork-lift truck Download PDFInfo
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- CN103187916B CN103187916B CN201110445507.4A CN201110445507A CN103187916B CN 103187916 B CN103187916 B CN 103187916B CN 201110445507 A CN201110445507 A CN 201110445507A CN 103187916 B CN103187916 B CN 103187916B
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Abstract
The invention discloses a motor control system for an electric fork-lift truck, which comprises a lifting control subsystem and a drive control subsystem, wherein the lifting control subsystem is used for controlling output power of a lifting motor of the electric fork-lift truck in order to adjust a working mode of the electric fork-lift truck, and comprises a first collection module, a first detection module and a first control module; the drive control subsystem is used for controlling output power of the drive control subsystem of the electric fork-lift truck in order to adjust a speed of the electric fork-lift truck, and comprises a second collection module, a second detection module and a second control module. The motor control system can control the lifting motor and a drive motor of the electric fork-lift truck, and meet a control requirement of the electric fork-lift truck.
Description
Technical field
The present invention relates to vehicle manufacture and control technology field, particularly a kind of electric machine control system for electri forklift.
Background technology
Traditional motor vehicle adopts direct current machine to drive.But the efficiency of direct current machine own is low, volume and quality are all large, thereby cause rotating speed not high, and cost is higher.AC Driving System, because its production efficiency is high, maintenance cost is low, is applied on electri forklift gradually.
Wherein, AC permanent magnet synchronous motor will be better than widely traditional direct current machine, synchronous machine, induction machine and brshless DC motor in operation characteristic and control mode, but present stage does not also have the drive scheme for AC permanent magnet synchronous motor.
Summary of the invention
Object of the present invention is intended at least solve one of above-mentioned technological deficiency, proposes especially a kind of electric machine control system for electri forklift, and this system can realize the control to the lifting motor of electri forklift and drive motors, meets the control requirement of electri forklift.
For achieving the above object, the embodiment of a first aspect of the present invention proposes a kind of electric machine control system for electri forklift, comprise: lift control subsystem, for the power output of lifting motor of controlling described electri forklift to adjust the mode of operation of described electri forklift, wherein, described lift control subsystem comprises: the first acquisition module, for gathering the door frame altitude signal of described electri forklift, door frame tilt signals, the door frame signal that leans forward, door frame hypsokinesis signal, the door frame signal that hoists, lifting motor excess temperature signal, radiator excess temperature signal, switching value signal and door frame inclination angle signal, whether first detection module, for breaking down according to described lifting motor excess temperature signal and radiator excess temperature input electri forklift, the first control module, while breaking down for detecting described electri forklift at described first detection module, control described electri forklift and carry out stop mode and send warning, and hoist power that signal, switching value signal and door frame inclination angle signal arrange described lifting motor to adjust the mode of operation of described electri forklift according to lean forward signal, door frame hypsokinesis signal, door frame of described door frame altitude signal, door frame tilt signals, door frame, and driving control subsystem, for the power output of driving control subsystem of controlling described electri forklift to adjust the speed of a motor vehicle of described electri forklift, wherein, described driving control subsystem comprises: the second acquisition module, for gathering drive motors excess temperature signal, radiator excess temperature signal, door frame limit switch signal, load weight signal and the turn signal of described electri forklift, wherein, between described the first acquisition module and described the second acquisition module, communicate, whether the second detection module, for breaking down according to described drive motors excess temperature signal and radiator excess temperature input electri forklift, the second control module, for detecting according to described door frame limit switch signal whether the door frame of described electri forklift is promotion, and whether there is load according to described load weight input, when the door frame promotion of described electri forklift being detected and having load, control the power output of described driving control subsystem to adjust the speed of a motor vehicle of described electri forklift.
According to the electric machine control system for electri forklift of the embodiment of the present invention, can be according to the requirement of the driving of the permagnetic synchronous motor of electri forklift, based on vector control method, realize the control to the lifting motor of electri forklift and drive motors, meet the control requirement of electri forklift.
The aspect that the present invention is additional and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage will become from the following description of the accompanying drawings of embodiments and obviously and easily understand, wherein:
Fig. 1 is according to the structured flowchart of the electric machine control system for electri forklift of the embodiment of the present invention;
Fig. 2 is according to the control flow chart of the lifting motor of the embodiment of the present invention;
Fig. 3 is according to the control flow chart of the drive motors of the embodiment of the present invention;
Fig. 4 controls the schematic diagram of motor according to the electric machine control system of the embodiment of the present invention; And
Fig. 5 is the Electric Machine Control process schematic diagram according to the embodiment of the present invention.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Below by the embodiment being described with reference to the drawings, be exemplary, only for explaining the present invention, and can not be interpreted as limitation of the present invention.
Disclosing below provides many different embodiment or example to be used for realizing different structure of the present invention.Of the present invention open in order to simplify, hereinafter the parts of specific examples and setting are described.Certainly, they are only example, and object does not lie in restriction the present invention.In addition, the present invention can be in different examples repeat reference numerals and/or letter.This repetition is in order to simplify and object clearly, itself do not indicate the relation between discussed various embodiment and/or setting.In addition, the various specific technique the invention provides and the example of material, but those of ordinary skills can recognize the property of can be applicable to of other techniques and/or the use of other materials.In addition, First Characteristic described below Second Characteristic it " on " structure can comprise that the first and second Characteristics creations are for the direct embodiment of contact, also can comprise the embodiment of other Characteristics creation between the first and second features, such the first and second features may not be direct contacts.
In description of the invention, it should be noted that, unless otherwise prescribed and limit, term " installation ", " being connected ", " connection " should be interpreted broadly, for example, can be mechanical connection or electrical connection, also can be the connection of two element internals, can be to be directly connected, and also can indirectly be connected by intermediary, for the ordinary skill in the art, can understand as the case may be the concrete meaning of above-mentioned term.
With reference to description and accompanying drawing below, these and other aspects of embodiments of the invention will be known.These describe and accompanying drawing in, specifically disclose some specific implementations in embodiments of the invention, represent to implement some modes of the principle of embodiments of the invention, still should be appreciated that the scope of embodiments of the invention is not limited.On the contrary, embodiments of the invention comprise spirit and all changes within the scope of intension, modification and the equivalent that falls into additional claims.
Below with reference to Fig. 1, describe according to the electric machine control system for electri forklift of the embodiment of the present invention.Wherein, the electric machine control system that the embodiment of the present invention provides can communicate with the miscellaneous part of electri forklift, such as: the instrument on electri forklift and battery etc.
As shown in Figure 1, the electric machine control system 1000 for electri forklift of the embodiment of the present invention comprises: lift control subsystem 100 and driving control subsystem 200.Wherein, lift control subsystem 100 for the power output of lifting motor of controlling described electri forklift to adjust the mode of operation of electri forklift, drive control subsystem 200 for the power output of driving control subsystem of controlling electri forklift to adjust the speed of a motor vehicle of electri forklift.Particularly, lift control subsystem 100 comprises the first acquisition module 110, first detection module 120 and the first control module 130.Wherein, the first acquisition module 110 is for gathering door frame altitude signal, door frame tilt signals, the door frame of electri forklift lean forward signal, door frame hypsokinesis signal, door frame hoist signal, lifting motor excess temperature signal, radiator excess temperature signal, switching value signal and door frame inclination angle signal, and whether first detection module 120 is for breaking down according to lifting motor excess temperature signal and radiator excess temperature input electri forklift; When the first control module 130 breaks down for detecting electri forklift at first detection module 120, control electri forklift and carry out stop mode and also send warning, and hoist power that signal, switching value signal and door frame inclination angle signal establish described lifting motor to adjust the mode of operation of electri forklift according to lean forward signal, door frame hypsokinesis signal, door frame of door frame altitude signal, door frame tilt signals, door frame.Drive control subsystem 200 for the power output of driving control subsystem of controlling electri forklift to adjust the speed of a motor vehicle of electri forklift.Wherein, drive control subsystem 200 to comprise: the second acquisition module 210, the second detection module 220 and the second control module 230.Wherein, the second acquisition module 210 is for gathering drive motors excess temperature signal, radiator excess temperature signal, door frame limit switch signal, load weight signal and the turn signal of electri forklift, wherein, between the first acquisition module 110 and the second acquisition module 210, can communicate.Whether the second detection module 220 is for breaking down according to drive motors excess temperature signal and radiator excess temperature input electri forklift, the second control module 230 is for detecting according to door frame limit switch signal whether the door frame of electri forklift is promotion, and whether there is load according to load weight input, when the door frame promotion of electri forklift being detected and having load, control and drive the power output of control subsystem to adjust the speed of a motor vehicle of electri forklift.
In one embodiment of the invention, lift control subsystem 100 and driving control subsystem 200 can be DSP (Digital Signal Processor, digital signal processor).Wherein, DSP can adopt the chip of the TM320F2812 model of TI company.
In one embodiment of the invention, the first acquisition module 110 of lift control subsystem 100 and the second acquisition module 210 of driving control subsystem 200 can communicate by CAN bus.
The first acquisition module 110 is also for gathering A phase and B phase current, voltage acquisition signal, the pressure stop signal of drive motors and the rotor signal of lifting motor of door frame Automatic Levelling signal, load capacity signal, lifting motor.When the first acquisition module 110 collects the pressure stop signal of drive motors, the mode of operation that the first control module 130 arranges electri forklift is stop mode.
Below according to the mode of operation of the action control electri forklift of lifting motor.
(1) stop mode
When inoperation lifting motor, electri forklift is carried out stop mode.
(2) pattern that leans forward
When tilt operation bar is allocated to while leaning forward position, the first acquisition module 110 can collect the door frame signal that leans forward, the first control module 130 can lean forward input to the switching value that leans forward according to this door frame, thereby the mode of operation that electri forklift can be set is the pattern of leaning forward, and the power that lifting motor is set is the power corresponding with the pattern of leaning forward.
(3) hypsokinesis pattern
When tilt operation bar is allocated to reclined position, the first acquisition module 110 can collect door frame hypsokinesis signal, the first control module 130 can detect hypsokinesis switching value, thereby the mode of operation that electri forklift can be set is hypsokinesis pattern, and the power that lifting motor is set is the power corresponding with hypsokinesis pattern.
(4) pattern that hoists
When the action bars that hoists is allocated to while hoisting position, the first acquisition module 110 collects the door frame signal that hoists, and the mode of operation of electri forklift is set is the pattern of hoisting to the first control module 130, and the power that lifting motor is set is the power corresponding with the pattern of hoisting.
(5) tilt mode that hoists
When hoisting, action bars is allocated to the position that hoists, simultaneously tilt operation bar leans forward or during hypsokinesis, the first acquisition module 110 can be examined and collect door frame hoist signal, door frame lean forward signal or door frame hypsokinesis signal, the mode of operation of electri forklift is set is the tilt mode that hoists to the first control module 130, and the power that lifting motor is set is the power corresponding with the tilt mode that hoists.
In an enforcement of the present invention, the first control module 130 is also for controlling the moment of torsion of lifting motor with the power of adjusting lifting motor.Particularly, the entire car controller of electri forklift is to the first control module 130 transmission speed instructions.If the present speed of the first control module 130 has surpassed the engine start speed of appointment, the first control module 130 can be clamped down on the speed of lifting motor within the range of permission.Particularly, the first control module 130 control rings regulate the control torque of lifting motor so that lifting motor operates in the speed of appointment.It should be noted that, above-mentioned control torque can not become negative value.If lifting motor is driven to the power higher than the speed of appointment, can to clamp down on be 0 to control torque.
In one embodiment of the invention, whether the second detection module 220 is also triggered for detection of the OPS (Operator presence sensing, operator exists induction system) of electri forklift.If OPS is triggered, controls electri forklift and carry out stop mode.
If the electric weight of vehicle is too low or single-unit brownout, the battery manager of electri forklift sends electric weight alarm signals by CAN bus to lift control subsystem 100 and driving control subsystem 200.Lift control subsystem 100 is controlled lifting motor according to this electric weight alarm signal and is not worked, thereby drives control subsystem 200 to control according to this electric weight alarm signal the object that power output becomes to reach restriction Vehicle Driving Cycle simultaneously.
In one embodiment of the invention, the second acquisition module 210 is also for gathering throttle signal, and the second control module 230 is also for adjusting the moment of torsion of drive motors according to this throttle signal.Particularly, entire car controller demand torque instruction to the second control module 230 output drive motors by CAN bus.If the Motor torque of the demand torque instruction that the second control module 230 receives surpasses the peak torque of drive motors, this moment of torsion can be clamped down on as maximum torque.In order to offset the impact of back electromotive force on motor, when high speed, apply field weakening control method to reach the moment of torsion of demand.Particularly, the control ring of the second control module 230 regulates moment of torsion to remain to designated value.It should be noted that, above-mentioned control torque can not become negative value.If demand torque instruction makes drive motors reversion, driving control subsystem 200 control torques to clamp down on is 0.
Below in conjunction with Fig. 2, the control flow of 100 couples of lifting motor MG1 of lift control subsystem is described.
Step S201, the first acquisition module 110 gathers car load signal.
Wherein, car load signal comprises door frame altitude signal, door frame tilt signals, door frame Automatic Levelling signal, door frame lean forward signal, door frame hypsokinesis signal, door frame hoist motor excess temperature signal, radiator excess temperature signal, the switching value signal of signal, lifting motor MG1 and door frame inclination angle signal, load weight signal, the A phase of lifting motor MG1 and the rotor signal of the analog signals such as B phase current, voltage acquisition signal and lifting motor MG1
Step S202, judges whether abnormal alarm of lifting motor MG1 self, if had, performs step S203, otherwise execution step S204.
First detection module 120, according to IPM guard signal, IPM radiator overheat protector signal and motor excess temperature signal, judges whether vehicle breaks down.If had, perform step S203, vehicle is stop mode, if no person does not normally carry out.
Step S203, electri forklift is carried out stop mode and is sent abnormal alarm.
Step S204, judges whether drive motors MG2 sends and force to cease and desist order to lifting motor MG1, if had, performs step S206, and no person performs step 205.
Step S205, according to the mode of operation of tilt operation bar and the action bars judgement electri forklift that hoists.
When tilt operation bar is allocated to while leaning forward position, execution step S207.When tilt operation bar is allocated to reclined position, execution step S208.When the action bars that hoists is allocated to while hoisting position, execution step S209.When the action bars that hoists is allocated to the position that hoists, simultaneously tilt operation bar leans forward or during hypsokinesis, execution step S210.
Step S206, electri forklift is carried out stop mode.
Step S207, electri forklift is carried out the pattern that leans forward.
When tilt operation bar is allocated to while leaning forward position, the first acquisition module 110 can collect the door frame signal that leans forward, the first control module 130 can lean forward input to the switching value that leans forward according to this door frame, thereby the mode of operation that electri forklift can be set is the pattern of leaning forward, and the power that lifting motor is set is the power corresponding with the pattern of leaning forward.
Step S208, electri forklift is carried out hypsokinesis pattern.
When tilt operation bar is allocated to reclined position, the first acquisition module 110 can collect door frame hypsokinesis signal, the first control module 130 can detect hypsokinesis switching value, thereby the mode of operation that electri forklift can be set is hypsokinesis pattern, and the power that lifting motor is set is the power corresponding with hypsokinesis pattern.
Step S209, electri forklift is carried out the pattern that hoists.
When the action bars that hoists is allocated to while hoisting position, the first acquisition module 110 collects the door frame signal that hoists, and the mode of operation of electri forklift is set is the pattern of hoisting to the first control module 130, and the power that lifting motor is set is the power corresponding with the pattern of hoisting.
Step S210, electri forklift is carried out the tilt mode that hoists.
When hoisting, action bars is allocated to the position that hoists, simultaneously tilt operation bar leans forward or during hypsokinesis, the first acquisition module 110 can be examined and collect door frame hoist signal, door frame lean forward signal or door frame hypsokinesis signal, the mode of operation of electri forklift is set is the tilt mode that hoists to the first control module 130, and the power that lifting motor is set is the power corresponding with the tilt mode that hoists.
In one embodiment of the invention, under each pattern, detect " knob " switch, door frame altitude signal, gantry angle signal, pallet fork loading capacity signal, according to above-mentioned signal, further determine mode of operation, and set the target power of lifting motor.According to definite mode of operation of lifting motor MG1 and the grade of target power, the target power of lifting motor is set.
Below in conjunction with Fig. 3, the control flow of 200 couples of drive motors MG2 of driving control subsystem is described.
Step S301, the second acquisition module gathers car load signal.
Wherein, car load signal comprises the switching value signals such as motor excess temperature of service brake signal, gear signal, Oil Switch signal, seating pressure signal, radiator excess temperature signal, prefilled signal, drive motors MG2, and MG2A phase and B phase current and the rotor-position signal of the analog signals such as busbar voltage collection signal of drive motors MG2, throttle signal, brake signal, drive motors.Wherein, gear signal is used to indicate the gear that advances, neutral and retreats gear.
Step S302, has judged whether catastrophe failure,, if had, perform step S303, no person performs step S304.
The second detection module 220 is according to IPM guard signal, IPM radiator overheat protector signal and motor excess temperature signal, if judge whether vehicle breaks down. and have, perform step S303, no person performs step S304.
Step S303, electri forklift is carried out the concurrent alarm signal that is out of order of stop mode.
Step S304, judges whether to have triggered OPS system, if so, performs step S305, and no person performs step S306.
Step S305, electri forklift is carried out stop mode.
Step S306, judges whether to send electric weight alarm signal, if so, performs step S307, and no person performs step S308.
When the electric weight of electri forklift is too low or single-unit brownout, battery manager by CAN bus to lift control subsystem 100 with drive control subsystem 200 to send electric weight alarm signals.Lift control subsystem 100 is controlled lifting motor according to this electric weight alarm signal and is not worked, thereby drives control subsystem 200 to control according to this electric weight alarm signal the object that power output becomes to reach restriction Vehicle Driving Cycle simultaneously.
Step S307, restriction drives the power output of control subsystem.
Electri forklift Execution driven pattern.Under drive pattern, drive control subsystem 200 restriction power outputs so that drive motors MG2 limit power drive electri forklift.Step S308, judges the whether high rise of door frame and overweight, if so, performs step S309, and no person performs step S310.
It is high lift or low lift that the second control module 230 can detect door frame by detection door frame limit switch signal, and by load transducer test load state.If the second control module 230 detects door frame and rises and have load for high, limit power output, thereby reach the object of the max. speed of restriction vehicle.
Step S309, according to the power output of weight limits driving control subsystem.
The loaded-up condition detecting according to load transducer, obtains load weight.And according to the power output of this load weight restriction driving control subsystem.Now, electri forklift Execution driven pattern.Under drive pattern, drive control subsystem 200 restriction power outputs so that drive motors MG2 limit power drive electri forklift.
Step S310, arranges the moment of torsion of drive motors according to throttle signal.
Entire car controller is the demand torque instruction to the second control module 230 output drive motors by CAN bus.If the Motor torque of the demand torque instruction that the second control module 230 receives surpasses the peak torque of drive motors, this moment of torsion can be clamped down on as maximum torque.In order to offset the impact of back electromotive force on motor, when high speed, apply field weakening control method to reach the moment of torsion of demand.Particularly, the control ring of the second control module 230 regulates moment of torsion to remain to designated value.It should be noted that, above-mentioned control torque can not become negative value.If demand torque instruction makes drive motors reversion, driving control subsystem 200 control torques to clamp down on is 0.
It should be noted that, if drive motors subsystem 200 does not limit power output, can normally control Vehicle Driving Cycle according to throttle, brake, gear.
In one embodiment of the invention, drive control subsystem also to comprise abnormality processing module, for occurring skidding at vehicle, when overload, stall, to above-mentioned, extremely process, and drive motors is carried out to open-phase protection.
In one embodiment of the invention, can by the power setting of motor, be three kinds of patterns, every kind of corresponding power grade of pattern, is respectively:
(1) the large dynamic mode of H pattern: High-
Under H pattern, the lowest power of lifting motor is 13KW.
(2) P pattern: Power-strong power pattern
Under P pattern, the lowest power of lifting motor is 12KW.
(3) S pattern: Standard-mode standard
Under S pattern, the lowest power of lifting motor is 11KW.
When the mode of operation of electri forklift is for the pattern of hoisting or while hoisting tilt mode, the power grade that lifting motor is set is H pattern.
When the mode of operation of electri forklift is during for the pattern of leaning forward or hypsokinesis pattern, the power grade that lifting motor is set is S pattern.Wherein, under the pattern of leaning forward or hypsokinesis pattern, the power of lifting motor can be 10KW, 9KW or 8KW.Be understandable that, the power of above-mentioned lifting motor only for exemplary purposes, rather than in order to limit the present invention.Under incline pattern or hypsokinesis pattern, the power of lifting motor also can be less than for other performance number of 11KW.
When the mode of operation of electri forklift is drive pattern, the power grade that drive motors is set is H pattern, P pattern or S pattern.Wherein, under drive pattern, when the power grade of drive motors is H pattern, the power of drive motors can be 14KW.Under drive pattern, when the power grade of drive motors is P pattern, the power of drive motors can be 12KW.Under drive pattern, when the power grade of drive motors is S pattern, the power of drive motors can be 10KW.Be understandable that, the power of above-mentioned lifting motor only for exemplary purposes, rather than in order to limit the present invention.
The schematic diagram of controlling motor according to the electric machine control system of the embodiment of the present invention is described below with reference to Fig. 4.
As shown in Figure 4, electric machine control system 1000 gathers the analog signals such as busbar voltage, two-phase current, motor temperature.Then by above-mentioned analog signal through analog channel filter and amplification, then after analog/digital conversion, become the dsp chip that digital signal is sent into lift control subsystem 100 and driven control subsystem 200.Revolve and become the dsp chip that decoding chip is sent to lift control subsystem 100 by the rotor-position of lifting motor MG1 and drive motors MG2 and drives control subsystem 200.The switching values such as gear signal, preliminary filling signal, motor excess temperature signal and radiator excess temperature signal are sent to lift control subsystem 100 and the IO mouth that drives the dsp chip of control subsystem 200 after light-coupled isolation.DSP adopts coordinate transform, PI to regulate scheduling algorithm to process input signal, generates respectively six tunnels with the pwm signal in dead band, sends into corresponding driver module.
Particularly, lift control subsystem 100 generates six tunnels with first group of pwm signal in dead band, and this first group of pwm signal is sent to lifting motor driver module.By lifting motor driver module, receive first group of pwm signal carried out strong and weak electricity isolation and various protective circuits are provided.Wherein, protective circuit comprises under-voltage protection, overcurrent protection, overheat protector and short-circuit protection.In addition, lifting motor driver module is also used to lift control subsystem 100 inside that power supply is provided, and the work of driving power device, thereby realizes the direct current and the conversion that drives the alternating current of lifting motor MG1 of battery reserve, controls the operation of lifting motor MG1.
Drive control subsystem 200 to generate six tunnels with second group of pwm signal in dead band, and this second group of pwm signal is sent to drive motors driver module.By drive motors driver module, receive second group of pwm signal carried out light current isolation and various protective circuits are provided.Wherein, protective circuit comprises under-voltage protection, overcurrent protection, overheat protector and short-circuit protection.In addition, drive motors driver module is also used to and drives control subsystem 200 inside that power supply is provided, and driving power device work, thereby realize the conversion of direct current with the alternating current that drive motors MG2 is driven of battery reserve, control the operation of drive motors MG2.
As shown in Figure 5, speed command signal and the spinner velocity signal detecting are carried out to PI adjusting, through the adjusting of speed control, output q shaft current command signal is as the given signal of q shaft current controller.The given signal of d shaft current controller is 0.The threephase stator electric current that current sample obtains, is converted and is turned to a-b coordinate system biphase current by Clark, after converting, is converted to the current value of d-q rotating coordinate system by Park, respectively as the feed back input of d axle and q shaft current adjuster.Deviation between the given and feedback of d axle and q shaft current is input to respectively the current controller of d axle and q axle, output voltage after the adjusting of controller, through Park, inverse transformation is converted to respectively a-b coordinate system shaft voltage again, modulation SVPWM (Space Vector Pulse Width Modulation, space vector pulse width modulation) output six road PWM, ((Insulated Gate Bipolar Transistor, insulated gate bipolar transistor) produces frequency and the variable three phase sine electric current input motor of amplitude to drive IGBT.Position signalling or the rate signal of rotor need to be provided by the rotor flux linkage orientation motor vector control system of motor.
According to the electric machine control system for electri forklift of the embodiment of the present invention, can be according to the requirement of the driving of the permagnetic synchronous motor of electri forklift, based on vector control method, the control of realization to the lifting motor of electri forklift and drive motors, such as the detection realizing faults such as electric current, motor position, speed, pallet fork weight, angles of inclination, thereby can meet the control requirement of electri forklift.
In flow chart or any process of otherwise describing at this or method describe and can be understood to, represent to comprise that one or more is for realizing module, fragment or the part of code of executable instruction of the step of specific logical function or process, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can be not according to order shown or that discuss, comprise according to related function by the mode of basic while or by contrary order, carry out function, this should be understood by embodiments of the invention person of ordinary skill in the field.
The logic and/or the step that in flow chart, represent or otherwise describe at this, for example, can be considered to for realizing the sequencing list of the executable instruction of logic function, may be embodied in any computer-readable medium, for instruction execution system, device or equipment (as computer based system, comprise that the system of processor or other can and carry out the system of instruction from instruction execution system, device or equipment instruction fetch), use, or use in conjunction with these instruction execution systems, device or equipment.With regard to this specification, " computer-readable medium " can be anyly can comprise, storage, communication, propagation or transmission procedure be for instruction execution system, device or equipment or the device that uses in conjunction with these instruction execution systems, device or equipment.The example more specifically of computer-readable medium (non-exhaustive list) comprises following: the electrical connection section (electronic installation) with one or more wirings, portable computer diskette box (magnetic device), random access memory (RAM), read-only memory (ROM), the erasable read-only memory (EPROM or flash memory) of editing, fiber device, and portable optic disk read-only memory (CDROM).In addition, computer-readable medium can be even paper or other the suitable medium that can print described program thereon, because can be for example by paper or other media be carried out to optical scanner, then edit, decipher or process in electronics mode and obtain described program with other suitable methods if desired, be then stored in computer storage.
Should be appreciated that each several part of the present invention can realize with hardware, software, firmware or their combination.In the above-described embodiment, a plurality of steps or method can realize with being stored in memory and by software or the firmware of suitable instruction execution system execution.For example, if realized with hardware, the same in another embodiment, can realize by any one in following technology well known in the art or their combination: have for data-signal being realized to the discrete logic of the logic gates of logic function, the application-specific integrated circuit (ASIC) with suitable combinational logic gate circuit, programmable gate array (PGA), field programmable gate array (FPGA) etc.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is to come the hardware that instruction is relevant to complete by program, described program can be stored in a kind of computer-readable recording medium, this program, when carrying out, comprises step of embodiment of the method one or a combination set of.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can be also that the independent physics of unit exists, and also can be integrated in a module two or more unit.Above-mentioned integrated module both can adopt the form of hardware to realize, and also can adopt the form of software function module to realize.If described integrated module usings that the form of software function module realizes and during as production marketing independently or use, also can be stored in a computer read/write memory medium.
The above-mentioned storage medium of mentioning can be read-only memory, disk or CD etc.
In the description of this specification, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the feature of this embodiment or example description.In this manual, the schematic statement of above-mentioned term is not necessarily referred to identical embodiment or example.And the specific features of description, structure, material or feature can be with suitable mode combinations in any one or more embodiment or example.
Although illustrated and described embodiments of the invention, for the ordinary skill in the art, be appreciated that without departing from the principles and spirit of the present invention and can carry out multiple variation, modification, replacement and modification to these embodiment, scope of the present invention is by claims and be equal to and limit.
Claims (10)
1. for an electric machine control system for electri forklift, it is characterized in that, comprising:
Lift control subsystem, for the power output of lifting motor of controlling described electri forklift, to adjust the mode of operation of described electri forklift, wherein, described lift control subsystem comprises:
The first acquisition module, for gathering door frame altitude signal, door frame tilt signals, the door frame of described electri forklift lean forward signal, door frame hypsokinesis signal, door frame hoist signal, lifting motor excess temperature signal, radiator excess temperature signal, switching value signal and door frame inclination angle signal;
Whether first detection module, for breaking down according to described lifting motor excess temperature signal and radiator excess temperature input electri forklift;
The first control module, while breaking down for detecting described electri forklift at described first detection module, control described electri forklift and carry out stop mode and send warning, and hoist power that signal, switching value signal and door frame inclination angle signal arrange described lifting motor to adjust the mode of operation of described electri forklift according to lean forward signal, door frame hypsokinesis signal, door frame of described door frame altitude signal, door frame tilt signals, door frame; And
Drive control subsystem, for the power output of driving control subsystem of controlling described electri forklift, to adjust the speed of a motor vehicle of described electri forklift, wherein, described driving control subsystem comprises:
The second acquisition module, for gathering drive motors excess temperature signal, radiator excess temperature signal, door frame limit switch signal, load weight signal and the turn signal of described electri forklift, wherein, between described the first acquisition module and described the second acquisition module, communicate;
Whether the second detection module, for breaking down according to described drive motors excess temperature signal and radiator excess temperature input electri forklift;
The second control module, for detecting according to described door frame limit switch signal whether the door frame of described electri forklift is promotion, and whether there is load according to described load weight input, when the door frame promotion of described electri forklift being detected and having load, control the power output of described driving control subsystem to adjust the speed of a motor vehicle of described electri forklift.
2. electric machine control system as claimed in claim 1, is characterized in that,
When described the first acquisition module collects described door frame and leans forward signal, the mode of operation of described electri forklift is set is the pattern of leaning forward to described the first control module;
When described the first acquisition module collects described door frame hypsokinesis signal, the mode of operation of described electri forklift is set is hypsokinesis pattern to described the first control module;
When described the first acquisition module collects described door frame and hoists signal, the mode of operation of described electri forklift is set is the pattern of hoisting to described the first control module;
When described the first acquisition module collects described door frame, hoist signal and described door frame while leaning forward signal or described door frame hypsokinesis signal, the mode of operation of described electri forklift is set is the tilt mode that hoists to described the first control module.
3. electric machine control system as claimed in claim 1, it is characterized in that, described the first acquisition module is also for gathering B phase current, voltage acquisition signal, the pressure stop signal of described drive motors and the rotor signal of described lifting motor of door frame Automatic Levelling signal, load weight signal, the A phase current of described lifting motor, described lifting motor.
4. electric machine control system as claimed in claim 3, is characterized in that, when described the first acquisition module collects the pressure stop signal of described drive motors, the mode of operation that described the first control module arranges described electri forklift is stop mode.
5. electric machine control system as claimed in claim 1, is characterized in that, described the first control module also for the moment of torsion of controlling described lifting motor to regulate the power of described lifting motor.
6. electric machine control system as claimed in claim 1, is characterized in that, described the first acquisition module and described the second acquisition module communicate by CAN bus.
7. electric machine control system as claimed in claim 1, is characterized in that, whether described the second detection module also exists induction system to be triggered for detection of the operator of described electri forklift,
Described the second control module, for when the operator of described electri forklift exists induction system to be triggered, is controlled described electri forklift and is carried out stop mode.
8. electric machine control system as claimed in claim 1, is characterized in that, described the first control module is also for receiving the electric weight alarm signal sending from the battery manager of described electri forklift, and controls described lifting motor and carry out stop mode;
Described the second control module is also for receiving the electric weight alarm signal from the battery manager of described electri forklift, and the power output of controlling described driving control subsystem is to adjust the speed of a motor vehicle of described electri forklift.
9. electric machine control system as claimed in claim 1, is characterized in that, described the second acquisition module is also for gathering throttle signal,
Described the second control module is also for adjusting the moment of torsion of described drive motors according to described throttle signal.
10. electric machine control system as claimed in claim 1, is characterized in that, described the first control module and described the second control module can be digital signal processor DSP.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110445507.4A CN103187916B (en) | 2011-12-27 | 2011-12-27 | Motor control system for electric fork-lift truck |
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| CN201110445507.4A CN103187916B (en) | 2011-12-27 | 2011-12-27 | Motor control system for electric fork-lift truck |
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| CN103187916A CN103187916A (en) | 2013-07-03 |
| CN103187916B true CN103187916B (en) | 2014-09-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105347266B (en) * | 2015-12-17 | 2018-05-29 | 吉林大学 | A kind of electri forklift pallet fork lift control device based on FPGA |
| CN106533307A (en) * | 2016-12-28 | 2017-03-22 | 南京理工大学 | Permanent magnet synchronous motor vector decoupling controller for electromobile based on DSP (Digital Signal Processor) |
| CN107332481B (en) * | 2017-08-17 | 2023-07-18 | 深圳市高科润电子有限公司 | Novel automobile seat motor control system and control method thereof |
| CN107697857A (en) * | 2017-10-13 | 2018-02-16 | 安徽全柴集团有限公司 | Switched reluctance machines fork truck |
| CN107697858A (en) * | 2017-10-13 | 2018-02-16 | 安徽全柴集团有限公司 | A kind of switched reluctance machines forklift operator system |
| CN109941925B (en) * | 2017-12-21 | 2020-07-10 | 比亚迪股份有限公司 | Forklift truck |
| CN109867236A (en) * | 2019-01-11 | 2019-06-11 | 芜湖智久机器人有限公司 | A kind of fork truck yoke control system and method |
| CN110963442B (en) * | 2019-09-25 | 2020-10-16 | 郑州嘉晨电器有限公司 | Control method for safe lifting operation of industrial vehicle |
| CN111490523B (en) * | 2020-05-11 | 2021-08-17 | 卧龙电气驱动集团股份有限公司 | Locked-rotor and open-phase protection permanent magnet synchronous motor and protection method thereof |
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| CN102259809A (en) * | 2010-05-31 | 2011-11-30 | 比亚迪股份有限公司 | Control system and control method of forklift door frame |
| CN101590989B (en) * | 2008-05-26 | 2012-03-28 | 株式会社丰田自动织机 | Load weight measuring device for a multi-stage mast forklift truck |
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