CN106006483A - Self-adaptive control system and method for dynamic working conditions of forklift - Google Patents
Self-adaptive control system and method for dynamic working conditions of forklift Download PDFInfo
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- CN106006483A CN106006483A CN201610567450.8A CN201610567450A CN106006483A CN 106006483 A CN106006483 A CN 106006483A CN 201610567450 A CN201610567450 A CN 201610567450A CN 106006483 A CN106006483 A CN 106006483A
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- fork truck
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- main valve
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
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- Transportation (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention provides a self-adaptive control system for the dynamic working conditions of a forklift. The system comprises an acquisition unit, a calculation unit, a storage unit and a control unit, wherein the acquisition unit is used for acquiring such information as the engine speed, the load weight and operating handle signals; the calculation unit is used for calculating the engine output power P0 required by an engine output system in the current working condition, and further calculating the engine speed n0 and the main valve core opening degree K in case of the engine output power P0; the storage unit is used for storing an engine power characteristic matching table and a main valve core opening degree database; and the control unit is used for controlling such parameters as the engine speed and the main valve core opening degree. The invention further provides a self-adaptive control method for the dynamic working conditions of the forklift. According to the system and the method provided by the invention, the working condition information about forklift driving and mast action is comprehensively considered, and the power required by the engine output system is calculated and controlled in real time, so that the engine output power can be precisely matched with the power required by the engine output system, and both the oil consumption and the noise can be reduced.
Description
Technical field
The present invention relates to engineering machinery field, more specifically, relate to a kind of fork truck power regime self-adaptive controlled
System and method processed.
Background technology
The operating mode of fork truck is more complicated, except individually travelling and door frame action operating mode, carries out composite move sometimes,
While i.e. travelling, portal frame system does action.In different operating modes, in the case of load weight difference, OK
Power required for sailing system and door frame action system can produce large change.
Manipulator's manual operation engine throttle control rotating speed and handle amplitude (load speed of action) are difficult to do
To accurate match: if throttle is too small, speed of action is too fast, can cause flame-out；If throttle is excessive, meeting
Cause speed of action too fast and oil consumption is higher.
In prior art, in order to ensure not stop working, generally select high-power engine, reserve the biggest power
Deposit.Power matching so can be caused unreasonable, and oil consumption noise is higher.
Therefore it provides a kind of fork truck power regime adaptive control system and method, consider fork truck and travel
With door frame action work information, calculate in real time and control the power needed for electromotor output system, reaching to start
The output of machine accurately mates with system power demand, reduces oil consumption and noise, is that the present invention to solve
Problem certainly.
Summary of the invention
The technical problem to be solved is, it is provided that a kind of fork truck power regime adaptive control system
And method, consider fork truck and travel and door frame action work information, calculate in real time and control electromotor output
Power needed for system, reaches the output of electromotor and accurately mating of system power demand, reduces oil
Consumption and noise.
In view of this, the invention provides a kind of fork truck power regime adaptive control system, including:
Collecting unit, described collecting unit is all connected with forklift door frame system and driving system, the information of collection
Including engine speed, load weight and operation handle signal；
The computing unit being connected with described collecting unit, the letter that described computing unit gathers according to collecting unit
Breath, calculates the engine output P needed for system under current working0；
The memory element being connected with described computing unit, described memory element storage has engine power characteristic
Join table and valve core of main valve aperture and load weight, engine speed allocation database, described computing unit also root
Calculating engine output according to described engine power characteristics match table is P0Time corresponding electromotor turn
Speed is n0, and calculate when sending out according to valve core of main valve aperture and load weight, engine speed allocation database
Motivation rotating speed is n0Time corresponding valve core of main valve aperture K；
The control unit being connected with described computing unit, the parameter that described control unit controls includes that electromotor turns
Speed and valve core of main valve aperture.
Preferably, described collecting unit includes: engine speed sensor, road speed sensors and door frame
Elevating ram pressure transducer；Described control unit includes: engine controller and valve core of main valve aperture control
Electromagnetic valve.
Preferably, described collecting unit also includes gearbox-gear sensor, and described control unit also includes becoming
Speed gear box electromagnetic valve.
Preferably, described collecting unit also includes: door frame oscillating cylinder pressure transducer and/or steering cylinder
Pressure transducer.
Preferably, described collecting unit also includes: fork cutter sidesway oil cylinder working-pressure sensor and/or fork cutter stretch
Oil cylinder working-pressure sensor.
Present invention also offers a kind of fork truck power regime self-adaptation control method, including:
Step 101, collecting unit gathers door frame action operating mode and fork truck driving cycle information, including: door frame
Elevating ram pressure PLift, engine speed n, fork truck travel speed v and operation handle signal；
Step 102, the information that computing unit gathers according to step 101 carries out power matching calculating, calculates
The power P that hydraulic system is current1, power P that driving system is current2, because operating the input action system of handle
The power P provided is provided3, and the output P needed for system0, wherein P0=P1+P2+P3；
Step 103, the engine power characteristics match table that computing unit stores according to memory element, calculate
Engine output is P0Time corresponding engine speed be n0；And according to the main valve of memory element storage
Spool aperture and load weight, engine speed allocation database calculate valve core of main valve aperture K；
Step 104, control unit is according to the result of calculation of computing unit, control engine speed to n0, main
Valve core aperture is to K.
Preferably, described step 101 also gathers change speed gear box gear information, described valve core of main valve aperture and load
The also corresponding gearbox-gear of weight, engine speed allocation database, described step 103 also calculates currently
Suitable gearbox-gear S under operating mode, in described step 104, control unit also controls change speed gear box gear electromagnetism
Valve adjusts gearbox-gear to S.
Preferably, described step 101 also gathers door frame oscillating cylinder pressure.
Preferably, described step 101 also gathers steering cylinder pressure.
Preferably, described step 101 also gathers fork cutter sidesway oil cylinder working-pressure and/or fork cutter telescopic oil cylinder pressure.
The technical scheme that the present invention provides, considers fork truck and travels and door frame action work information, count in real time
Calculate and control the power needed for electromotor output system, reaching output and the system power demand of electromotor
Accurate coupling, reduce oil consumption and noise.
Accompanying drawing explanation
Fig. 1 is that the logic of fork truck power regime adaptive control system one embodiment provided by the present invention is shown
It is intended to；
Fig. 2 is that the structure of fork truck power regime adaptive control system one embodiment provided by the present invention is shown
It is intended to；
Fig. 3 is the structure of the fork truck another embodiment of power regime adaptive control system provided by the present invention
Schematic diagram；
Fig. 4 is that the flow process of figure fork truck provided by the present invention power regime self-adaptation control method one embodiment is shown
It is intended to.
Detailed description of the invention
The present invention will be further described with embodiment below in conjunction with the accompanying drawings.It should be noted that do not conflicting
In the case of, the feature in embodiments herein and embodiment can be mutually combined.
Elaborate a lot of detail in the following description so that fully understanding the present invention, but, this
Bright can be different from other modes described here implement to use, therefore, protection scope of the present invention is also
Do not limited by following public specific embodiment.
As shown in figs. 1 and 2, the invention provides a kind of fork truck power regime adaptive control system, bag
Including: collecting unit, described collecting unit is all connected with forklift door frame system and driving system, the information of collection
Including engine speed, fork truck travel speed, load weight and operation handle signal；
The computing unit being connected with described collecting unit, the letter that described computing unit gathers according to collecting unit
Breath, calculates the engine output P needed for system under current working0；
The memory element being connected with described computing unit, described memory element storage has engine power characteristic
Join table and valve core of main valve aperture and load weight, engine speed allocation database, described computing unit also root
Calculating engine output according to described engine power characteristics match table is P0Time corresponding electromotor turn
Speed is n0, and calculate when sending out according to valve core of main valve aperture and load weight, engine speed allocation database
Motivation rotating speed is n0Time corresponding valve core of main valve aperture K；
The control unit being connected with described computing unit, the parameter that described control unit controls includes that electromotor turns
Speed and valve core of main valve aperture.
The operation principle of the technical scheme that this embodiment is provided is:
Fork truck power regime adaptive control system adopts engine speed, fork truck travel speed, load weight in real time
Amount and operation handle signal, calculate the power required for system, adjusts engine speed and makes electromotor export
The power that system needs；But, if handle pulls aperture very greatly, i.e. manipulator is intended to the fortune the biggest to load
Dynamic speed, and the power that now electromotor is provided that can not meet the required power provided of system, then system
Valve core of main valve aperture is selected with load weight, engine speed allocation database, i.e. according to valve core of main valve aperture
Suitably reduce valve core of main valve aperture thus reduce hydraulic system discharge capacity, reduce the power required for hydraulic system,
The power that electromotor is provided meets condition, it is to avoid the situation of engine misses occurs.
In this embodiment, described collecting unit Real-time Collection engine speed, fork truck travel speed, load weight
Amount and operation handle input signal, calculate institute under the complex conditions of fork truck system current driving, door frame action
The power P needed0, and according to system power demand P0Calculate should locate when electromotor exports this power turn
Speed n0, control unit transmitting control commands adjustment engine speed to n0, make the power needed for electromotor output
P0；Meanwhile, during power required for engine output can not meet system, main valve is the most suitably reduced
Spool aperture adjusts the power required for hydraulic system so that the power of electromotor output is equal to needed for system
Power to be provided, so that electromotor accurately exports system and completes the merit needed for current operation handle action
Rate, it is ensured that system is run under optimum energy consumption, reduces oil consumption and noise, and avoids the limiting conditions such as fully loaded
The situation of lower engine misses occurs.
In above-described embodiment, as the preferred technical scheme of one, described collecting unit includes: electromotor turns
Speed sensor, road speed sensors and door frame elevating ram pressure transducer；Described control unit includes:
Engine controller and valve core of main valve aperture control electromagnetic valve.
In this embodiment, specifically, collecting unit by engine speed sensor gather engine speed,
Door frame elevating ram pressure transducer gathers door frame elevating ram pressure, and the system that calculates is by door frame elevating ram
Pressure can calculate load weight；Control unit passes through engine controller controls engine speed, main valve valve
Core aperture controls electromagnetic valve control bound aperture, thus realizes respectively engine power and hydraulic system discharge capacity
The i.e. control of main pump power.
In above-described embodiment, as the preferred technical scheme of one, described collecting unit also includes change speed gear box shelves
Level sensor, described control unit also includes gearbox-gear electromagnetic valve.
In this embodiment, in order to realize accurately controlling further, system also gathers and controls change speed gear box gear.
As a example by full-loading condition, if handle pulls aperture very greatly, i.e. manipulator is intended to the motion speed the biggest to load
Degree, and the power that now electromotor is provided that can not meet the required power provided of system, then system according to
Change speed gear box power and hydraulic system power sum, equal to the principle of engine output, suitably reduce change speed gear box
Gear S, S=f (engine speed, valve core of main valve aperture, load weight).If after change speed gear box is downshifted
The power that electromotor can be provided by still can not meet handle operation be intended under demand, the most now also need to be
Unite and the most suitably reduce valve core of main valve according to valve core of main valve aperture and load weight, engine speed allocation database
Aperture, thus reduce hydraulic system discharge capacity, reduce the power required for hydraulic system, electromotor is carried
The power of confession meets condition, it is to avoid the situation of engine misses occurs；If started after reducing change speed gear box gear
Function provides the power meeting system requirements, then need not be adjusted valve core of main valve aperture, Ke Yijin again
Row meets the operation that operation handle is intended to.
In above-described embodiment, as the preferred technical scheme of one, described collecting unit also includes: door frame shakes
Pendulum oil cylinder working-pressure sensor and/or steering cylinder pressure transducer.
In above-described embodiment, as the preferred technical scheme of one, described collecting unit also includes: fork cutter side
Move oil cylinder working-pressure sensor and/or fork cutter telescopic oil cylinder pressure transducer.
In this embodiment, in order to accurately calculate the power needed for system further, collecting unit can also be adopted
Collection door frame oscillating cylinder pressure, steering cylinder pressure, fork cutter sidesway oil cylinder working-pressure and fork cutter telescopic oil cylinder pressure
The pressure of this little hydraulic system, calculates the power required for corresponding subsystem, thus improves this further
The accuracy of provided technical scheme is provided.
Present invention also offers a kind of fork truck power regime self-adaptation control method:
Step 101, collecting unit gathers door frame action operating mode and fork truck driving cycle information, including: door frame
Elevating ram pressure PLift, engine speed n, fork truck travel speed v and operation handle signal；
Step 102, the information that computing unit gathers according to step 101 carries out power matching calculating, calculates
The power P that hydraulic system is current1, power P that driving system is current2, because operating the input action system of handle
The power P provided is provided3, and the output P needed for system0, wherein P0=P1+P2+P3；
Step 103, the engine power characteristics match table that computing unit stores according to memory element, calculate
Engine output is P0Time corresponding engine speed be n0；And according to the main valve of memory element storage
Spool aperture and load weight, engine speed allocation database calculate valve core of main valve aperture K；
Step 104, control unit is according to the result of calculation of computing unit, control engine speed to n0, main
Valve core aperture is to K.
The fork truck power regime self-adaptation control method that this embodiment is provided is with aforementioned fork truck power regime certainly
Adaption Control System operation principle is identical, does not repeats them here.
In above-described embodiment, as the preferred technical scheme of one, described step 101 also gathers change speed gear box gear
Position information, described valve core of main valve aperture and load weight, the most corresponding change speed gear box of engine speed allocation database
Gear, described step 103 also calculates suitable gearbox-gear S, described step 104 under current working
Middle control unit also controls change speed gear box gear electromagnetic valve and adjusts gearbox-gear to S.
In above-described embodiment, as the preferred technical scheme of one, described step 101 also gathers door frame and waves
Oil cylinder working-pressure.
In above-described embodiment, as the preferred technical scheme of one, described step 101 also gathers steering cylinder
Pressure.
In above-described embodiment, as the preferred technical scheme of one, described step 101 also gathers fork cutter sidesway
Oil cylinder working-pressure and/or fork cutter telescopic oil cylinder pressure.
Technical scheme provided by the present invention, considers fork truck and travels and door frame action work information, in real time
Calculate and control the power needed for electromotor output system, reaching merit needed for the output of electromotor and system
The accurate coupling of rate, reduces oil consumption and noise.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for ability
For the technical staff in territory, the present invention can have various modifications and variations.All in the spirit and principles in the present invention
Within, any modification, equivalent substitution and improvement etc. made, should be included in protection scope of the present invention it
In.
Claims (10)
1. a fork truck power regime adaptive control system, it is characterised in that including:
Collecting unit, described collecting unit is all connected with forklift door frame system and driving system, the information of collection
Including engine speed, fork truck travel speed, load weight and operation handle signal；
The computing unit being connected with described collecting unit, the letter that described computing unit gathers according to collecting unit
Breath, calculates the engine output P needed for system under current working0；
The memory element being connected with described computing unit, described memory element storage has engine power characteristic
Join table and valve core of main valve aperture and load weight, engine speed allocation database, described computing unit also root
Calculating engine output according to described engine power characteristics match table is P0Time corresponding electromotor turn
Speed is n0, and calculate when sending out according to valve core of main valve aperture and load weight, engine speed allocation database
Motivation rotating speed is n0Time corresponding valve core of main valve aperture K；
The control unit being connected with described computing unit, the parameter that described control unit controls includes that electromotor turns
Speed and valve core of main valve aperture.
Fork truck power regime adaptive control system the most according to claim 1, it is characterised in that
Described collecting unit includes: engine speed sensor, road speed sensors and door frame elevating ram pressure
Sensor；Described control unit includes: engine controller and valve core of main valve aperture control electromagnetic valve.
Fork truck power regime adaptive control system the most according to claim 2, it is characterised in that
Described collecting unit also includes that gearbox-gear sensor, described control unit also include gearbox-gear electromagnetism
Valve.
Fork truck power regime adaptive control system the most according to claim 2, it is characterised in that
Described collecting unit also includes: door frame oscillating cylinder pressure transducer and/or steering cylinder pressure transducer.
Fork truck power regime adaptive control system the most according to claim 2, it is characterised in that
Described collecting unit also includes: fork cutter sidesway oil cylinder working-pressure sensor and/or fork cutter telescopic oil cylinder pressure sensing
Device.
6. a fork truck power regime self-adaptation control method, it is characterised in that including:
Step 101, collecting unit gathers door frame action operating mode and fork truck driving cycle information, including: door frame
Elevating ram pressure PLift, engine speed n, fork truck travel speed v and operation handle signal；
Step 102, the information that computing unit gathers according to step 101 carries out power matching calculating, calculates
The power P that hydraulic system is current1, power P that driving system is current2, because operating the input action system of handle
The power P provided is provided3, and the output P needed for system0, wherein P0=P1+P2+P3；
Step 103, the engine power characteristics match table that computing unit stores according to memory element, calculate
Engine output is P0Time corresponding engine speed be n0；And according to the main valve of memory element storage
Spool aperture and load weight, engine speed allocation database calculate valve core of main valve aperture K；
Step 104, control unit is according to the result of calculation of computing unit, control engine speed to n0, main
Valve core aperture is to K.
Fork truck power regime self-adaptation control method the most according to claim 6, it is characterised in that
Described step 101 also gathers change speed gear box gear information, described valve core of main valve aperture and load weight, electromotor
The also corresponding gearbox-gear information of rotating speed allocation database, described step 103 also calculates and closes under current working
Suitable gearbox-gear S, in described step 104, control unit also controls the adjustment change of change speed gear box gear electromagnetic valve
Speed gear box is to S.
Fork truck power regime self-adaptation control method the most according to claim 6, it is characterised in that
Described step 101 also gathers door frame oscillating cylinder pressure.
Fork truck power regime self-adaptation control method the most according to claim 6, it is characterised in that
Described step 101 also gathers steering cylinder pressure.
Fork truck power regime self-adaptation control method the most according to claim 6, it is characterised in that
Described step 101 also gathers fork cutter sidesway oil cylinder working-pressure and/or fork cutter telescopic oil cylinder pressure.
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| CN201610567450.8A CN106006483B (en) | 2016-07-15 | 2016-07-15 | A kind of fork truck power regime adaptive control system and method |
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| CN201610567450.8A CN106006483B (en) | 2016-07-15 | 2016-07-15 | A kind of fork truck power regime adaptive control system and method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109665468A (en) * | 2018-12-26 | 2019-04-23 | 苏州罗伯特木牛流马物流技术有限公司 | Fork-lift type AGV pallet fork lifting speed control method and device |
| CN110658824A (en) * | 2019-10-15 | 2020-01-07 | 北京旷视机器人技术有限公司 | Motion control method and device of transport vehicle, controller and transport vehicle |
| CN110683488A (en) * | 2019-09-29 | 2020-01-14 | 浙江事倍达物流设备有限公司 | Intelligent electric engineering vehicle and control method thereof |
| CN112287498A (en) * | 2020-10-27 | 2021-01-29 | 哈尔滨工程大学 | Numerical simulation research method for valve core opening of three-way spring valve |
| CN112456391A (en) * | 2020-11-27 | 2021-03-09 | 厦门理工学院 | Energy-saving driving auxiliary system of electric forklift and control method thereof |
| CN112455418A (en) * | 2020-11-27 | 2021-03-09 | 厦门理工学院 | Automatic driving energy-saving auxiliary system of diesel fork lift truck and control method thereof |
| CN113184762A (en) * | 2021-05-27 | 2021-07-30 | 三一海洋重工有限公司 | Control method and device for lifting of stacking machine, stacking machine and storage medium |
| CN114313296A (en) * | 2022-02-08 | 2022-04-12 | 上海斯化露航空科技发展有限公司 | Hydraulic control system of aircraft containerized cargo loader |
| CN117446708A (en) * | 2023-12-25 | 2024-01-26 | 杭叉集团股份有限公司 | Electro-hydraulic control system and method for idling anti-flameout of diesel fork truck |
| CN114313296B (en) * | 2022-02-08 | 2024-07-16 | 上海斯化露航空科技发展有限公司 | Hydraulic control system of aircraft containerized cargo loader |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109665468A (en) * | 2018-12-26 | 2019-04-23 | 苏州罗伯特木牛流马物流技术有限公司 | Fork-lift type AGV pallet fork lifting speed control method and device |
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| CN112456391A (en) * | 2020-11-27 | 2021-03-09 | 厦门理工学院 | Energy-saving driving auxiliary system of electric forklift and control method thereof |
| CN112455418A (en) * | 2020-11-27 | 2021-03-09 | 厦门理工学院 | Automatic driving energy-saving auxiliary system of diesel fork lift truck and control method thereof |
| CN113184762A (en) * | 2021-05-27 | 2021-07-30 | 三一海洋重工有限公司 | Control method and device for lifting of stacking machine, stacking machine and storage medium |
| CN113184762B (en) * | 2021-05-27 | 2023-02-24 | 三一海洋重工有限公司 | Control method and device for lifting of stacking machine, stacking machine and storage medium |
| CN114313296A (en) * | 2022-02-08 | 2022-04-12 | 上海斯化露航空科技发展有限公司 | Hydraulic control system of aircraft containerized cargo loader |
| CN114313296B (en) * | 2022-02-08 | 2024-07-16 | 上海斯化露航空科技发展有限公司 | Hydraulic control system of aircraft containerized cargo loader |
| CN117446708A (en) * | 2023-12-25 | 2024-01-26 | 杭叉集团股份有限公司 | Electro-hydraulic control system and method for idling anti-flameout of diesel fork truck |
| CN117446708B (en) * | 2023-12-25 | 2024-02-23 | 杭叉集团股份有限公司 | Electro-hydraulic control system and method for idling anti-flameout of diesel fork truck |
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