CN106006483B - A kind of fork truck power regime adaptive control system and method - Google Patents
A kind of fork truck power regime adaptive control system and method Download PDFInfo
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- CN106006483B CN106006483B CN201610567450.8A CN201610567450A CN106006483B CN 106006483 B CN106006483 B CN 106006483B CN 201610567450 A CN201610567450 A CN 201610567450A CN 106006483 B CN106006483 B CN 106006483B
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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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- 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 present invention provides a kind of fork truck power regime adaptive control systems, including：The information of collecting unit, acquisition includes engine speed, load weight and operation handle signal；Computing unit calculates the engine output P needed for system under current working according to the information that collecting unit acquires0；Storage unit is stored with engine power characteristic matching list and valve core of main valve aperture database, and it is P that computing unit, which also calculates engine output,0When engine speed n0With valve core of main valve aperture K；The parameter of control unit, control includes engine speed and valve core of main valve aperture.The present invention also provides a kind of fork truck power regime self-adaptation control methods.Fork truck power regime adaptive control system and method provided by the present invention, consider fork truck traveling and door frame acts work information, it calculates in real time and controls the power needed for engine output system, reach engine output power and system needed for power accurate matching, reduce oil consumption and noise.
Description
Technical field
The present invention relates to engineering machinery fields, more specifically, are related to a kind of fork truck power regime adaptive control system
And method.
Background technology
The operating mode of fork truck is more complex, acts operating mode with door frame in addition to individually travelling, carries out composite move sometimes, that is, travel
While portal frame system act.In different operating modes, in the case of load weight difference, driving system and door frame acts
Required power of uniting will produce large change.
Manipulator's manual operation engine throttle control rotating speed and handle amplitude (load movement speed) are difficult to accomplish accurately
Matching：If throttle is too small, movement speed is too fast, can cause to stop working；If throttle is excessive, movement speed can be caused too fast and oily
It consumes higher.
In the prior art, in order to ensure not stop working, high-power engine is usually selected, the prodigious margin of power is reserved.This
Sample can cause power matching 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 traveling and door frame
Work information is acted, calculates and control the power needed for engine output system in real time, reaches the output power of engine and is
The accurate matching of power needed for system, reduces oil consumption and noise, is problem to be solved by this invention.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of fork truck power regime adaptive control system and side
Method, considers fork truck traveling and door frame acts work information, calculates and control the power needed for engine output system in real time,
Reach engine output power and system needed for power accurate matching, reduce oil consumption and noise.
In view of this, the present invention provides a kind of fork truck power regime adaptive control systems, including：
Collecting unit, the collecting unit are connected with forklift door frame system and driving system, and the information of acquisition includes hair
Motivation rotating speed, load weight and operation handle signal；
The computing unit being connected with the collecting unit, the information that the computing unit is acquired according to collecting unit calculate
Go out the engine output P needed for fork truck system under current working0；
The storage unit being connected with the computing unit, the storage unit be stored with engine power characteristic matching list and
Valve core of main valve aperture and load weight, engine speed allocation database, the computing unit is also according to the engine power
It is P that characteristics match meter, which calculates engine output,0When corresponding engine speed be n0, and according to valve core of main valve aperture with
Load weight, engine speed allocation database are calculated when engine speed is n0When corresponding valve core of main valve aperture K；
The parameter of the control unit being connected with the computing unit, described control unit control includes engine speed and master
Valve core aperture.
Preferably, the 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 solenoid valve.
Preferably, the collecting unit further includes gearbox-gear sensor, and described control unit further includes gearbox shelves
Position solenoid valve.
Preferably, the collecting unit further includes：Door frame oscillating cylinder pressure sensor and/or steering cylinder pressure sensing
Device.
Preferably, the collecting unit further includes：Pitch knife sidesway oil cylinder working-pressure sensor and/or fork knife telescopic oil cylinder pressure
Sensor.
The present invention also provides a kind of fork truck power regime self-adaptation control methods, including：
Step 101, collecting unit acquisition door frame action operating mode and fork truck driving cycle information, including：Door frame elevating ram
Pressure PIt lifts, engine speed n, fork truck travel speed v and operation handle signal；
Step 102, computing unit carries out power matching calculating according to the information that step 101 acquires, and calculates hydraulic system
Current power P1, the current power P of driving system2, because the input action fork truck system of operation handle needs power to be offered
P3And the output power P needed for fork truck system0, wherein P0=P1+P2+P3；
Step 103, the engine power characteristic matching list that computing unit is stored according to storage unit, it is defeated to calculate engine
It is P to go out power0When corresponding engine speed be n0；And according to the valve core of main valve aperture of storage unit storage and load weight, hair
Motivation rotating speed allocation database calculates 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, valve core of main valve opens
It spends to K.
Preferably, the step 101 also acquires gearbox-gear information, the valve core of main valve aperture and load weight, hair
Motivation rotating speed allocation database also corresponds to gearbox-gear, and the step 103 also calculates suitable gearbox under current working
Gear S, control unit also controls gearbox-gear solenoid valve and adjusts gearbox-gear to S in the step 104.
Preferably, the step 101 also acquires door frame oscillating cylinder pressure.
Preferably, the step 101 also acquires steering cylinder pressure.
Preferably, the step 101 also acquires fork knife sidesway oil cylinder working-pressure and/or fork knife telescopic oil cylinder pressure.
Technical solution provided by the invention, considers fork truck traveling and door frame acts work information, calculates and controls in real time
Power needed for engine output system processed, reach engine output power and system needed for power accurate matching, reduce
Oil consumption and noise.
Description of the drawings
Fig. 1 is the logical schematic of one embodiment of fork truck power regime adaptive control system provided by the present invention；
Fig. 2 is the structural schematic diagram of one embodiment of fork truck power regime adaptive control system provided by the present invention；
Fig. 3 is the structural schematic diagram of the another embodiment of fork truck power regime adaptive control system provided by the present invention；
Fig. 4 is the flow diagram of figure one embodiment of fork truck power regime self-adaptation control method provided by the present invention.
Specific implementation mode
The present invention will be further described with reference to the accompanying drawings and examples.It should be noted that the case where not conflicting
Under, the feature in embodiments herein and embodiment can be combined with each other.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
With using implementing different from other modes described here, therefore, protection scope of the present invention is not by following public tool
The limitation of body embodiment.
As shown in figs. 1 and 2, the present invention provides a kind of fork truck power regime adaptive control systems, including：Acquisition is single
Member, the collecting unit are connected with forklift door frame system and driving system, and the information of acquisition includes engine speed, fork truck row
Sail speed, load weight and operation handle signal；
The computing unit being connected with the collecting unit, the information that the computing unit is acquired according to collecting unit calculate
Go out the engine output P needed for fork truck system under current working0；
The storage unit being connected with the computing unit, the storage unit be stored with engine power characteristic matching list and
Valve core of main valve aperture and load weight, engine speed allocation database, the computing unit is also according to the engine power
It is P that characteristics match meter, which calculates engine output,0When corresponding engine speed be n0, and according to valve core of main valve aperture with
Load weight, engine speed allocation database are calculated when engine speed is n0When corresponding valve core of main valve aperture K；
The parameter of the control unit being connected with the computing unit, described control unit control includes engine speed and master
Valve core aperture.
The operation principle for the technical solution that the embodiment is provided is：
Fork truck power regime adaptive control system acquire in real time engine speed, fork truck travel speed, load weight and
Operation handle signal, calculates the required power of system, and adjustment engine speed makes the power that engine output system needs；
But if to pull aperture very big for handle, i.e., manipulator is intended to give load prodigious movement velocity, and function is started to provide at this time
Power can not meet power to be offered needed for system, then system is according to valve core of main valve aperture and load weight, engine speed
Allocation database selects valve core of main valve aperture, i.e., suitably reduces valve core of main valve aperture, to reduce hydraulic system discharge capacity, reduce liquid
The required power of pressure system, to occur the case where making the power that engine provides meet condition, avoid engine misses.
In the embodiment, the collecting unit acquires engine speed, fork truck travel speed, load weight and operation in real time
Handle input signal calculates required power P under the complex conditions of the current driving of fork truck system, door frame action0, and according to
Power P needed for system0Calculate the rotating speed n that should locate when engine exports the power0, control unit transmission control command adjustment hair
Motivation rotating speed is to n0, make the power P needed for engine output0；Meanwhile when engine output can not meet required for system
Power when, then suitably reduce valve core of main valve aperture and adjust the required power of hydraulic system so that the work(of engine output
Rate is equal to power to be offered needed for system, to make the accurate output system of engine complete needed for the action of current operation handle
Power, it is ensured that system is run under optimal energy consumption, reduces oil consumption and noise, and is avoided being fully loaded with engine under equal limiting conditions and put out
The situation of fire occurs.
In above-described embodiment, as a kind of perferred technical scheme, the collecting unit includes：Engine speed senses
Device, road speed sensors and door frame elevating ram pressure sensor；Described control unit includes：Engine controller and main valve
Spool aperture controls solenoid valve.
In the embodiment, specifically, collecting unit acquires engine speed by engine speed sensor, door frame lifts
Oil cylinder working-pressure sensor acquires door frame elevating ram pressure, and computing system can calculate load weight by door frame elevating ram pressure
Amount；Control unit controls solenoid valve control main valve aperture by engine controller controls engine speed, valve core of main valve aperture,
To be realized respectively to engine power and hydraulic system the discharge capacity i.e. control of main pump power.
In above-described embodiment, as a kind of perferred technical scheme, the collecting unit further includes gearbox-gear sensing
Device, described control unit further include gearbox-gear solenoid valve.
It in the embodiment, is accurately controlled to further realize, system also acquires and control gearbox-gear.To be fully loaded with work
For condition, if to pull aperture very big for handle, i.e., manipulator is intended to give load prodigious movement velocity, and starts function to carry at this time
The power of confession can not meet power to be offered needed for system, then system is according to the sum of gearbox power and hydraulic system power etc.
It is appropriate to reduce gearbox-gear S, S=f (engine speed, valve core of main valve aperture, load in the principle of engine output
Weight).If the power that engine can be provided after downshifting to gearbox, which still cannot meet handle operation, is intended to the needs of lower,
Then also need to system at this time suitably reduces main valve according to valve core of main valve aperture and load weight, engine speed allocation database
Spool aperture, to reduce hydraulic system discharge capacity, reduce the required power of hydraulic system, come the power for making engine provide
The case where meeting condition, avoiding engine misses, occurs；If function offer is started to meet system need after reducing gearbox-gear
The power asked then need not again be adjusted valve core of main valve aperture, can carry out the operation for meeting operation handle intention.
In above-described embodiment, as a kind of perferred technical scheme, the collecting unit further includes：Door frame oscillating cylinder pressure
Force snesor and/or steering cylinder pressure sensor.
In above-described embodiment, as a kind of perferred technical scheme, the collecting unit further includes：Pitch knife sidesway oil cylinder pressure
Force snesor and/or fork knife telescopic oil cylinder pressure sensor.
In the embodiment, in order to further accurately calculate the power needed for system, collecting unit can also acquire door frame
Oscillating cylinder pressure, steering cylinder pressure, fork knife sidesway oil cylinder working-pressure and pitch knife telescopic oil cylinder pressure this little hydraulic system
Pressure calculates the required power of corresponding subsystem, to further increase the accuracy of technical solution provided by the present invention.
The present invention also provides a kind of fork truck power regime self-adaptation control methods：
Step 101, collecting unit acquisition door frame action operating mode and fork truck driving cycle information, including：Door frame elevating ram
Pressure PIt lifts, engine speed n, fork truck travel speed v and operation handle signal；
Step 102, computing unit carries out power matching calculating according to the information that step 101 acquires, and calculates hydraulic system
Current power P1, the current power P of driving system2, because the input action fork truck system of operation handle needs power to be offered
P3And the output power P needed for fork truck system0, wherein P0=P1+P2+P3；
Step 103, the engine power characteristic matching list that computing unit is stored according to storage unit, it is defeated to calculate engine
It is P to go out power0When corresponding engine speed be n0；And according to the valve core of main valve aperture of storage unit storage and load weight, hair
Motivation rotating speed allocation database calculates 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, valve core of main valve opens
It spends to K.
The fork truck power regime self-adaptation control method that the embodiment is provided and aforementioned fork truck power regime are self-adaptive controlled
System Working Principle processed is identical, and details are not described herein.
In above-described embodiment, as a kind of perferred technical scheme, the step 101 also acquires gearbox-gear information,
The valve core of main valve aperture also corresponds to gearbox-gear with load weight, engine speed allocation database, and the step 103 is also
Suitable gearbox-gear S under current working is calculated, control unit also controls gearbox-gear solenoid valve in the step 104
Gearbox-gear is adjusted to S.
In above-described embodiment, as a kind of perferred technical scheme, the step 101 also acquires door frame oscillating cylinder pressure
Power.
In above-described embodiment, as a kind of perferred technical scheme, the step 101 also acquires steering cylinder pressure.
In above-described embodiment, as a kind of perferred technical scheme, the step 101 also acquires fork knife sidesway oil cylinder working-pressure
And/or fork knife telescopic oil cylinder pressure.
Technical solution provided by the present invention, considers fork truck traveling and door frame acts work information, calculates in real time simultaneously
Control engine output system needed for power, reach engine output power and system needed for power accurate matching, drop
Low oil consumption and noise.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, any made by repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of fork truck power regime adaptive control system, which is characterized in that including：
Collecting unit, the collecting unit are connected with forklift door frame system and driving system, and the information of acquisition includes engine
Rotating speed, fork truck travel speed, load weight and operation handle signal；
The computing unit being connected with the collecting unit, the information that the computing unit is acquired according to collecting unit, calculates and works as
Engine output P under preceding operating mode needed for fork truck system0；
The storage unit being connected with the computing unit, the storage unit are stored with engine power characteristic matching list and main valve
Spool aperture and load weight, engine speed allocation database, the computing unit is also according to the engine power characteristic
It is P that matching list, which calculates engine output,0When corresponding engine speed be n0, and according to valve core of main valve aperture and load
Weight, engine speed allocation database are calculated when engine speed is n0When corresponding valve core of main valve aperture K；
The parameter of the control unit being connected with the computing unit, described control unit control includes engine speed and main valve valve
Core aperture.
2. fork truck power regime adaptive control system according to claim 1, which is characterized in that the collecting unit packet
It 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 solenoid valve.
3. fork truck power regime adaptive control system according to claim 2, which is characterized in that the collecting unit is also
Including gearbox-gear sensor, described control unit further includes gearbox-gear solenoid valve.
4. fork truck power regime adaptive control system according to claim 2, which is characterized in that the collecting unit is also
Including：Door frame oscillating cylinder pressure sensor and/or steering cylinder pressure sensor.
5. fork truck power regime adaptive control system according to claim 2, which is characterized in that the collecting unit is also
Including：Pitch knife sidesway oil cylinder working-pressure sensor and/or fork knife telescopic oil cylinder pressure sensor.
6. a kind of fork truck power regime self-adaptation control method, which is characterized in that including：
Step 101, collecting unit acquisition door frame action operating mode and fork truck driving cycle information, including：Door frame elevating ram pressure
PIt lifts, engine speed n, fork truck travel speed v and operation handle signal；
Step 102, computing unit carries out power matching calculating according to the information that step 101 acquires, and it is current to calculate hydraulic system
Power P1, the current power P of driving system2, because the input action fork truck system of operation handle needs power P to be offered3, with
And the output power P needed for fork truck system0, wherein P0=P1+P2+P3；
Step 103, the engine power characteristic matching list that computing unit is stored according to storage unit, calculates engine output work
Rate is P0When corresponding engine speed be n0；And according to the valve core of main valve aperture and load weight, engine of storage unit storage
Rotating speed allocation database calculates 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, valve core of main valve aperture to K.
7. fork truck power regime self-adaptation control method according to claim 6, which is characterized in that the step 101 is also
Gearbox-gear information is acquired, the valve core of main valve aperture is with load weight, engine speed allocation database also to judgement of speed change
Gear box information, the step 103 also calculate suitable gearbox-gear S under current working, are controlled in the step 104 single
Member also control gearbox-gear solenoid valve adjusts gearbox-gear to S.
8. fork truck power regime self-adaptation control method according to claim 6, which is characterized in that the step 101 is also
Acquire door frame oscillating cylinder pressure.
9. fork truck power regime self-adaptation control method according to claim 6, which is characterized in that the step 101 is also
Acquire steering cylinder pressure.
10. fork truck power regime self-adaptation control method according to claim 6, which is characterized in that the step 101 is also
Acquisition fork knife sidesway oil cylinder working-pressure and/or fork knife 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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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109665468B (en) * | 2018-12-26 | 2020-08-07 | 苏州罗伯特木牛流马物流技术有限公司 | Forklift AGV fork lifting speed control method and device |
| 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 |
| 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 |
| CN112287498B (en) * | 2020-10-27 | 2022-05-20 | 哈尔滨工程大学 | Numerical simulation research method for valve core opening degree of three-way spring valve |
| 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 |
| 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 |
| 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 |
| 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 |
| 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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| JPS63166643A (en) * | 1986-12-27 | 1988-07-09 | Isuzu Motors Ltd | Braking force retainer for vehicle |
| JP2850744B2 (en) * | 1994-01-31 | 1999-01-27 | 株式会社島津製作所 | Start control device for vehicle with fluid transmission |
| JP2003294004A (en) * | 2002-04-03 | 2003-10-15 | Aichi Corp | Control device for hydraulic apparatus |
| JP4807028B2 (en) * | 2005-09-30 | 2011-11-02 | 株式会社豊田自動織機 | Forklift travel control device |
| JP5245927B2 (en) * | 2009-03-09 | 2013-07-24 | 株式会社豊田自動織機 | Control system for hybrid forklift |
| JP4941545B2 (en) * | 2009-12-03 | 2012-05-30 | 株式会社豊田自動織機 | Hybrid industrial vehicle |
| CN103085737A (en) * | 2011-11-08 | 2013-05-08 | 浙江尤恩叉车股份有限公司 | Safe and intelligent operation system of forklifts |
| CN104477166B (en) * | 2014-11-21 | 2017-01-25 | 北京新能源汽车股份有限公司 | Range extender power output control system and method thereof |
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