CN108544983A - Electri forklift accelerator open degree processing method - Google Patents
Electri forklift accelerator open degree processing method Download PDFInfo
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- CN108544983A CN108544983A CN201810253860.4A CN201810253860A CN108544983A CN 108544983 A CN108544983 A CN 108544983A CN 201810253860 A CN201810253860 A CN 201810253860A CN 108544983 A CN108544983 A CN 108544983A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
- B60L2200/42—Fork lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses a kind of electri forklift accelerator open degree processing methods, if electri forklift driver is run using velocity mode, the scale of accelerator open degree directly controls the speed of motor, and full throttle corresponds to the maximum speed of motor, and fork truck runs speed per hour highest at this time；Empty throttle corresponds to motor zero velocity, and fork truck stops at this time.The method is by being arranged motor maximum speed, low speed, high speed, low throttle, high throttle, low throttle accelerate, and high throttle accelerates, and empty throttle slows down, the speed given curve that accelerator open degree adjustment processing is motor ensure that the rapidity and comfort of electri forklift traveling by the parameters such as non-empty throttle deceleration.
Description
Technical field
The present invention relates to the control method technical fields of electri forklift more particularly to a kind of electri forklift accelerator open degree to handle
Method.
Background technology
Electri forklift because of the features such as use cost is low, and maintenance cycle is long, and maintenance cost is low, in the use of fork truck by
Year is incremented by.Electri forklift provides energy by battery, is worked using fork truck drive control device driving motor.Electri forklift driving process
It needs quickly to accelerate, but also to ensure comfort.The throttle of diesel fork lift truck and the throttle performance of electri forklift are entirely different.Electricity
The output of electrical forklift throttle is electric signal, and controller controls the speed of electri forklift by the electric signal that throttle exports.Either
The throttle of resistor-type, current mode or Hall type, be output to controller is all voltage signal.Drive control device is by receiving
Voltage, control the rotating speed of motor.It is that voltage is bigger than more conventional processing method, the rotating speed of motor is bigger, then into line
Property delay, control acceleration and deceleration.But can not generally ensure electri forklift smooth starting in the control method of the prior art, and accelerate
Property it is poor, it is handling difference the shortcomings of.
Invention content
The technical problem to be solved by the present invention is to how provide one kind to ensure that electri forklift starts steadily, acceleration
Good and good operability electri forklift accelerator open degree processing method.
In order to solve the above technical problems, the technical solution used in the present invention is：A kind of electri forklift accelerator open degree processing
Method, if electri forklift driver is run using velocity mode, the scale of accelerator open degree directly controls the speed of motor, full throttle
The maximum speed of corresponding motor, the speed per hour highest of fork truck operation at this time；Empty throttle corresponds to motor zero velocity, and fork truck stops at this time,
It is characterized in that including the following steps：
Set the maximum speed of motor operation：
Setup parameter when electri forklift accelerates：Third maximum speed is set, the first low speed, second at a high speed, and the first low throttle adds
Speed, the second high throttle accelerate, and the high throttle of third accelerates, the first low throttle, the second high throttle；Third maximum speed indicates motor fortune
Capable maximum speed；Second high speed indicates that motor height hastens a setting value of operation, and range is in the maximum speed of zero-speed and third
Between degree；First low speed indicates a setting value of motor low speed operation, and range is between the second high speed and zero-speed；First is low
Throttle accelerates to indicate acceleration time when throttle is in low throttle；Second full throttle accelerates to indicate to be more than the when motor speed
When two high speeds, expire acceleration time when throttle；Third expires throttle and accelerates to indicate when speed is less than the first low speed, full throttle
Acceleration time when state；Second high throttle indicates the size of accelerator open degree, in the range of zero between maximum throttle；First is low
Throttle indicates the size of accelerator open degree, in the range of between the zero to the second high throttle；
When accelerator open degree is less than the first low throttle, the acceleration time of motor is that the first low throttle accelerates；
When accelerator open degree is higher than the second high throttle, acceleration time of motor is the second high throttle and the high throttle of third according to currently
The speed of motor is calculated, and calculation uses linear principles：
When motor speed is more than the second high speed：The high throttle of acceleration time=the second accelerates；
When motor speed is less than the first low speed：The high throttle of acceleration time=third accelerates；
When motor speed is between the first low speed and the second high speed：The high throttle acceleration of acceleration time=third+（Motor speed-the
One low speed）*（The second high high throttle of throttle acceleration-third accelerates）/（Second the-the first low speed of high speed）；
When accelerator open degree is between the first low throttle and the second high throttle, the acceleration time of motor is to be opened according to current throttle
Angle value calculates, and calculation uses linear principles：
The low throttle acceleration of acceleration time=the first+（The low throttle of accelerator open degree-the first）*（First low throttle accelerates the-the second high throttle
Accelerate）/（Second the-the first low throttle of high throttle）；
Setup parameter when electri forklift slows down：Third maximum speed is set, the first low speed, second at a high speed, and the first empty throttle subtracts
Speed, the second empty throttle slow down, and the non-throttle of third slows down；First empty throttle, which slows down, indicates that throttle returns to vacancy, the i.e. aperture of throttle
When being zero, the time of decelerating through motor when motor high rotating speed；Second empty throttle, which slows down, indicates that throttle returns to vacancy, the i.e. aperture of throttle
When being zero, the time of decelerating through motor when motor high low speed；
When accelerator open degree is in non-empty throttle, the deceleration time of motor is to be calculated according to current throttle opening value, is calculated
Mode uses linear principles：
The non-throttle deceleration+accelerator open degree * of deceleration time=third（Second empty throttle deceleration-non-throttle of third slows down）
When accelerator open degree is in empty throttle, the deceleration time of motor is the calculating according to current motor, and calculation is adopted
Use linear principles：
When motor speed is more than the second high speed：The empty throttle of deceleration time=first slows down；
When motor speed is less than the first low speed：The empty throttle of deceleration time=second slows down；
When motor speed is between the first low speed and the second high speed：The empty throttle deceleration of deceleration time=first+（Motor speed-the
Two high speeds）*（Second the-the first empty throttle of empty throttle deceleration slows down）/（First the-the second high speed of low speed）；
Acceleration time refers to that motor accelerates to reach the motor maximum speed required time from zero-speed；Deceleration time refers to electricity
Machine reduces from maximum speed reaches the zero velocity required time.
It is using advantageous effect caused by above-mentioned technical proposal：The method is low by the way that motor maximum speed is arranged
The parameters such as speed, high speed, low throttle, high throttle, low throttle accelerate, and high throttle accelerates, and empty throttle slows down, and non-empty throttle slows down, will
Accelerator open degree adjustment processing is the speed given curve of motor, ensures the rapidity and comfort of electri forklift traveling.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is to accelerate relational graph in the method for the embodiment of the present invention；
Fig. 2 is deceleration gap figure in the method for the embodiment of the present invention；
Fig. 3 is acceleration time relational graph in the method for the embodiment of the present invention.
Specific implementation mode
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground describes, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still the present invention can be with
Implemented different from other manner described here using other, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by following public specific embodiment.
The embodiment of the invention discloses a kind of electri forklift accelerator open degree processing methods, if electri forklift driver is using speed
Mode operation is spent, the scale of accelerator open degree directly controls the speed of motor, and full throttle corresponds to the maximum speed of motor, at this time fork truck
Run speed per hour highest；Empty throttle corresponds to motor zero velocity, and fork truck stops at this time, includes the following steps：
Set the maximum speed of motor operation：
Setup parameter when electri forklift accelerates, as shown in Figure 1：Third maximum speed is set, the first low speed, second at a high speed, the
One low throttle accelerates, and the second high throttle accelerates, and the high throttle of third accelerates, the first low throttle, the second high throttle；Third maximum speed
Indicate the maximum speed of motor operation；Second high speed indicate motor height hasten operation a setting value, range zero-speed with
Between third maximum speed；First low speed indicates a setting value of motor low speed operation, and range is in the second high speed and zero-speed
Between；First low throttle accelerates to indicate acceleration time when throttle is in low throttle；Second full throttle accelerates to indicate when electricity
When machine speed is more than the second high speed, expire acceleration time when throttle；Third expires throttle and accelerates to indicate to be less than first when speed
When low speed, expire acceleration time when throttle；Second high throttle indicates the size of accelerator open degree, and maximum oil is arrived in the range of zero
Between door；First low throttle indicates the size of accelerator open degree, in the range of between the zero to the second high throttle；
When accelerator open degree is less than the first low throttle, the acceleration time of motor is that the first low throttle accelerates；
When accelerator open degree is higher than the second high throttle, acceleration time of motor is the second high throttle and the high throttle of third according to currently
The speed of motor is calculated, and calculation uses linear principles：
When motor speed is more than the second high speed：The high throttle of acceleration time=the second accelerates；
When motor speed is less than the first low speed：The high throttle of acceleration time=third accelerates；
When motor speed is between the first low speed and the second high speed：The high throttle acceleration of acceleration time=third+（Motor speed-the
One low speed）*（The second high high throttle of throttle acceleration-third accelerates）/（Second the-the first low speed of high speed）；
When accelerator open degree is between the first low throttle and the second high throttle, the acceleration time of motor is to be opened according to current throttle
Angle value calculates, and calculation uses linear principles：
The low throttle acceleration of acceleration time=the first+（The low throttle of accelerator open degree-the first）*（First low throttle accelerates the-the second high throttle
Accelerate）/（Second the-the first low throttle of high throttle）；
Setup parameter when electri forklift slows down, as shown in Figure 2：Third maximum speed is set, the first low speed, second at a high speed, the
One empty throttle slows down, and the second empty throttle slows down, and the non-throttle of third slows down；First empty throttle, which slows down, indicates that throttle returns to vacancy, i.e.,
When the aperture of throttle is zero, the time of decelerating through motor when motor high rotating speed；Second empty throttle, which slows down, indicates that throttle returns to vacancy, i.e.,
When the aperture of throttle is zero, the time of decelerating through motor when motor high low speed；
When accelerator open degree is in non-empty throttle, the deceleration time of motor is to be calculated according to current throttle opening value, is calculated
Mode uses linear principles：
The non-throttle deceleration+accelerator open degree * of deceleration time=third（Second empty throttle deceleration-non-throttle of third slows down）
When accelerator open degree is in empty throttle, the deceleration time of motor is the calculating according to current motor, and calculation is adopted
Use linear principles：
When motor speed is more than the second high speed：The empty throttle of deceleration time=first slows down；
When motor speed is less than the first low speed：The empty throttle of deceleration time=second slows down；
When motor speed is between the first low speed and the second high speed：The empty throttle deceleration of deceleration time=first+（Motor speed-the
Two high speeds）*（Second the-the first empty throttle of empty throttle deceleration slows down）/（First the-the second high speed of low speed）；
Acceleration time refers to that motor accelerates to reach the motor maximum speed required time from zero-speed, as shown in Figure 3；When deceleration
Between refer to motor from maximum speed reduce reach the zero velocity required time, as shown in Figure 3.
To sum up, the method is by being arranged motor maximum speed, low speed, high speed, low throttle, high throttle, and low throttle accelerates,
It is bent to be adjusted the speed preset that processing is motor by the parameters such as high throttle accelerates, and empty throttle slows down, and non-empty throttle slows down for accelerator open degree
Line ensures the rapidity and comfort of electri forklift traveling.
Claims (1)
1. a kind of electri forklift accelerator open degree processing method, if electri forklift driver is run using velocity mode, accelerator open degree
Scale directly control the speed of motor, full throttle corresponds to the maximum speed of motor, the speed per hour highest of fork truck operation at this time；Empty throttle
Corresponding motor zero velocity, fork truck parking at this time, it is characterised in that include the following steps：
Set the maximum speed of motor operation：
Setup parameter when electri forklift accelerates：Third maximum speed is set, the first low speed, second at a high speed, and the first low throttle adds
Speed, the second high throttle accelerate, and the high throttle of third accelerates, the first low throttle, the second high throttle；Third maximum speed indicates motor fortune
Capable maximum speed；Second high speed indicates that motor height hastens a setting value of operation, and range is in the maximum speed of zero-speed and third
Between degree；First low speed indicates a setting value of motor low speed operation, and range is between the second high speed and zero-speed；First is low
Throttle accelerates to indicate acceleration time when throttle is in low throttle；Second full throttle accelerates to indicate to be more than the when motor speed
When two high speeds, expire acceleration time when throttle；Third expires throttle and accelerates to indicate when speed is less than the first low speed, full throttle
Acceleration time when state；Second high throttle indicates the size of accelerator open degree, in the range of zero between maximum throttle；First is low
Throttle indicates the size of accelerator open degree, in the range of between the zero to the second high throttle；
When accelerator open degree is less than the first low throttle, the acceleration time of motor is that the first low throttle accelerates；
When accelerator open degree is higher than the second high throttle, acceleration time of motor is the second high throttle and the high throttle of third according to currently
The speed of motor is calculated, and calculation uses linear principles：
When motor speed is more than the second high speed：The high throttle of acceleration time=the second accelerates；
When motor speed is less than the first low speed：The high throttle of acceleration time=third accelerates；
When motor speed is between the first low speed and the second high speed：The high throttle acceleration of acceleration time=third+（Motor speed-the
One low speed）*（The second high high throttle of throttle acceleration-third accelerates）/（Second the-the first low speed of high speed）；
When accelerator open degree is between the first low throttle and the second high throttle, the acceleration time of motor is to be opened according to current throttle
Angle value calculates, and calculation uses linear principles：
The low throttle acceleration of acceleration time=the first+（The low throttle of accelerator open degree-the first）*（First low throttle accelerates the-the second high throttle
Accelerate）/（Second the-the first low throttle of high throttle）；
Setup parameter when electri forklift slows down：Third maximum speed is set, the first low speed, second at a high speed, and the first empty throttle subtracts
Speed, the second empty throttle slow down, and the non-throttle of third slows down；First empty throttle, which slows down, indicates that throttle returns to vacancy, the i.e. aperture of throttle
When being zero, the time of decelerating through motor when motor high rotating speed；Second empty throttle, which slows down, indicates that throttle returns to vacancy, the i.e. aperture of throttle
When being zero, the time of decelerating through motor when motor high low speed；
When accelerator open degree is in non-empty throttle, the deceleration time of motor is to be calculated according to current throttle opening value, is calculated
Mode uses linear principles：
The non-throttle deceleration+accelerator open degree * of deceleration time=third（Second empty throttle deceleration-non-throttle of third slows down）
When accelerator open degree is in empty throttle, the deceleration time of motor is the calculating according to current motor, and calculation is adopted
Use linear principles：
When motor speed is more than the second high speed：The empty throttle of deceleration time=first slows down；
When motor speed is less than the first low speed：The empty throttle of deceleration time=second slows down；
When motor speed is between the first low speed and the second high speed：The empty throttle deceleration of deceleration time=first+（Motor speed-the
Two high speeds）*（Second the-the first empty throttle of empty throttle deceleration slows down）/（First the-the second high speed of low speed）；
Acceleration time refers to that motor accelerates to reach the motor maximum speed required time from zero-speed；Deceleration time refers to electricity
Machine reduces from maximum speed reaches the zero velocity required time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253860.4A CN108544983B (en) | 2018-03-26 | 2018-03-26 | Electri forklift accelerator open degree processing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253860.4A CN108544983B (en) | 2018-03-26 | 2018-03-26 | Electri forklift accelerator open degree processing method |
Publications (2)
| Publication Number | Publication Date |
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| CN108544983A true CN108544983A (en) | 2018-09-18 |
| CN108544983B CN108544983B (en) | 2019-05-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113482780A (en) * | 2021-07-02 | 2021-10-08 | 苏州臻迪智能科技有限公司 | Throttle control method and device, electronic equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6192932A (en) * | 1984-10-15 | 1986-05-10 | Komatsu Forklift Kk | Vehicle speed control device of battery fork lift |
| JP2002020097A (en) * | 2000-07-10 | 2002-01-23 | Toyota Industries Corp | Drive controller of industrial vehicle |
| CN105966380A (en) * | 2016-07-20 | 2016-09-28 | 安徽合力股份有限公司 | Electric-forklift braking system and braking method |
| CN205905962U (en) * | 2016-07-20 | 2017-01-25 | 安徽合力股份有限公司 | Electric fork -lift braking system |
| CN106817058A (en) * | 2015-11-27 | 2017-06-09 | 比亚迪股份有限公司 | The drive control method of electri forklift, device and electri forklift |
-
2018
- 2018-03-26 CN CN201810253860.4A patent/CN108544983B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6192932A (en) * | 1984-10-15 | 1986-05-10 | Komatsu Forklift Kk | Vehicle speed control device of battery fork lift |
| JP2002020097A (en) * | 2000-07-10 | 2002-01-23 | Toyota Industries Corp | Drive controller of industrial vehicle |
| CN106817058A (en) * | 2015-11-27 | 2017-06-09 | 比亚迪股份有限公司 | The drive control method of electri forklift, device and electri forklift |
| CN105966380A (en) * | 2016-07-20 | 2016-09-28 | 安徽合力股份有限公司 | Electric-forklift braking system and braking method |
| CN205905962U (en) * | 2016-07-20 | 2017-01-25 | 安徽合力股份有限公司 | Electric fork -lift braking system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113482780A (en) * | 2021-07-02 | 2021-10-08 | 苏州臻迪智能科技有限公司 | Throttle control method and device, electronic equipment and storage medium |
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| CN108544983B (en) | 2019-05-24 |
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Address after: 1305, block B, Rongchao Binhai building, 2021 haixiu Road, n26 District, Haiwang community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen gaodewei Technology Co., Ltd. Address before: 518100, Guangdong, Baoan District, Fuyong Shenzhen Street (Fu Garden Road West), Heng Heng Industrial Plant No. 6, a floor of C, fourth C Patentee before: Shenzhen gaodewei Technology Co., Ltd. |
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Effective date of registration: 20210324 Address after: 510900 No.1, Chuangye Avenue South, Mingzhu Industrial Park, Conghua District, Guangzhou City, Guangdong Province Patentee after: Guangzhou Helens Intelligent Technology Co.,Ltd. Address before: 518100 room 1305, block B, Rongchao Binhai building, No. 2021, haixiu Road, n26 District, Haiwang community, Xin'an street, Bao'an District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN GOLWAY TECHNOLOGY Co.,Ltd. |