CN108544983B - Electri forklift accelerator open degree processing method - Google Patents
Electri forklift accelerator open degree processing method Download PDFInfo
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- CN108544983B CN108544983B CN201810253860.4A CN201810253860A CN108544983B CN 108544983 B CN108544983 B CN 108544983B CN 201810253860 A CN201810253860 A CN 201810253860A CN 108544983 B CN108544983 B CN 108544983B
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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)
- Forklifts And Lifting Vehicles (AREA)
- Electric Propulsion And Braking For 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 passes through setting motor maximum speed, low speed, high speed, low throttle, high throttle, low throttle accelerate, and high throttle accelerates, and empty throttle slows down, accelerator open degree adjustment is handled the speed given curve for 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 technical field of control method of electri forklift more particularly to a kind of electri forklift accelerator open degree to handle
Method.
Background technique
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 guarantee 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 revolving speed of motor.Comparing conventional processing method is that voltage is bigger, and the revolving speed of motor is bigger, then carries out line
Property delay, control acceleration and deceleration.But electri forklift smooth starting is not can guarantee in the control method of the prior art generally, and accelerate
Property it is poor, it is handling difference the disadvantages of.
Summary of the invention
The technical problem to be solved by the present invention is to how provide one kind to guarantee that electri forklift starting is steady, 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 is handled
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, fork truck runs speed per hour highest 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: setting third maximum speed, the first low speed, the second high speed, the first low oil
Door 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 indicates electricity
The maximum speed of machine operation；Second high speed indicates that motor height hastens a setting value of operation, range zero-speed and third most
Between big speed；First low speed indicates a setting value of motor low speed operation, and range is between the second high speed and zero-speed；The
One low throttle accelerates to indicate acceleration time when throttle is in low throttle；Second full throttle accelerates to indicate when motor speed is big
When the second high speed, expire acceleration time when throttle；Third expires throttle and accelerates to indicate when speed is less than the first low speed, full
Acceleration time when throttle；Second high throttle indicates the size of accelerator open degree, in the range of zero between maximum throttle；The
One 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 lower 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 be the second high throttle and the high throttle of third according to
The speed of current motor is calculated, and calculation uses linear principles:
When motor speed is greater 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 of acceleration time=third accelerates+(motor speed
Spend the-the first 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 according to current oil
Door opening value calculates, and calculation uses linear principles:
(the first low throttle acceleration-the second is high by low throttle acceleration+(the low throttle of accelerator open degree-the first) * of acceleration time=the first
Throttle accelerates)/(the second low throttle of high throttle-the first)；
Setup parameter when electri forklift slows down: setting third maximum speed, the first low speed, the second high speed, the first empty oil
Door slows down, and the second empty throttle slows down, and the non-throttle of third slows down；First empty throttle slows down indicates that throttle returns to vacancy, i.e. throttle
When aperture is zero, the time of decelerating through motor when motor high revolving speed；Second empty throttle slows down indicates that throttle returns to vacancy, i.e. throttle
When aperture 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,
Calculation uses linear principles:
The non-throttle deceleration+accelerator open degree * of deceleration time=third (the 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, calculating side
Formula uses linear principles:
When motor speed is greater 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-the second high speed of degree) * (the second empty throttle of empty throttle deceleration-the first slows down)/(first the-the second high speed of low speed)；
Acceleration time refers to that motor accelerates the time required for reaching motor maximum speed from zero-speed；What deceleration time referred to
Being motor reduces the time required for reaching zero velocity from maximum speed.
The beneficial effects of adopting the technical scheme are that the method is by setting motor maximum speed, it is low
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, guarantees the rapidity and comfort of electri forklift traveling.
Detailed description of the invention
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 embodiment
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 description, it is clear that described embodiment is only a part of the embodiments 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.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, 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 the specific embodiments disclosed below.
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 sets third maximum speed as shown in Figure 1:, and the first low speed, second is high
Speed, the first low throttle accelerate, and the second high throttle accelerates, and the high throttle of third accelerates, the first low throttle, the second high throttle；Third is most
Big speed indicates the maximum speed of motor operation；Second high speed indicates that motor height hastens a setting value of operation, and range exists
Between zero-speed and third maximum speed；First low speed indicates a setting value of motor low speed operation, and range is in the second high speed
Between zero-speed；First low throttle accelerates to indicate acceleration time when throttle is in low throttle；Second full throttle accelerometer
Show when motor speed is greater than the second high speed, expires acceleration time when throttle；Third expires throttle and accelerates to indicate when speed is small
When the first low speed, expire acceleration time when throttle；Second high throttle indicates the size of accelerator open degree, arrives in the range of zero
Between maximum throttle；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 lower 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 be the second high throttle and the high throttle of third according to
The speed of current motor is calculated, and calculation uses linear principles:
When motor speed is greater 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 of acceleration time=third accelerates+(motor speed
Spend the-the first 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 according to current oil
Door opening value calculates, and calculation uses linear principles:
(the first low throttle acceleration-the second is high by low throttle acceleration+(the low throttle of accelerator open degree-the first) * of acceleration time=the first
Throttle accelerates)/(the second low throttle of high throttle-the first)；
Setup parameter when electri forklift slows down, as shown in Figure 2: setting third maximum speed, the first low speed, second is high
Speed, the first empty throttle slow down, and the second empty throttle slows down, and the non-throttle of third slows down；First empty throttle slows down and indicates that throttle returns to sky
Position, i.e. when the aperture of throttle is zero, the time of decelerating through motor when motor high revolving speed；Second empty throttle slows down and indicates that throttle returns to sky
Position, 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,
Calculation uses linear principles:
The non-throttle deceleration+accelerator open degree * of deceleration time=third (the 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, calculating side
Formula uses linear principles:
When motor speed is greater 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-the second high speed of degree) * (the second empty throttle of empty throttle deceleration-the first slows down)/(first the-the second high speed of low speed)；
Acceleration time refers to that motor accelerates the time required for reaching motor maximum speed from zero-speed, as shown in Figure 3；Subtract
The fast time refers to that motor reduces the time required for reaching zero velocity from maximum speed, as shown in Figure 3.
To sum up, the method, which passes through, is arranged motor maximum speed, low speed, high speed, low throttle, high throttle, and low throttle accelerates,
Accelerator open degree adjustment is handled the speed preset song for motor by the parameters such as high throttle accelerates, and empty throttle slows down, and non-empty throttle slows down
Line guarantees 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 correspond 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 stops at this time, it is characterised in that includes the following steps:
Set the maximum speed of motor operation:
Setup parameter when electri forklift accelerates: setting third maximum speed, the first low speed, the second high speed, the first low throttle add
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 high throttle accelerates to indicate to be greater than the when motor speed
When two high speeds, expire acceleration time when throttle；The high throttle of third accelerates expression 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 lower 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, the acceleration time of motor is the second high throttle and the high throttle of third according to current
The speed of motor is calculated, and calculation uses linear principles:
When motor speed is greater 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+(motor speed-the of acceleration time=third
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 of acceleration time=the first accelerates+(the low throttle of accelerator open degree-the first) × (first the-the second high throttle of low throttle acceleration
Accelerate)/(the second low throttle of high throttle-the first)；
Setup parameter when electri forklift slows down: setting third maximum speed, the first low speed, the second high speed, the first empty throttle subtract
Speed, the second empty throttle slow down, and the non-throttle of third slows down；First empty throttle slows down and indicates that throttle returns to vacancy, the i.e. aperture of throttle
When being zero, the time of decelerating through motor when motor high revolving speed；Second empty throttle slows down and 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 × (the 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
With linear principles:
When motor speed is greater 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+(motor speed-the of deceleration time=first
Two high speeds) × (the second empty throttle of empty throttle deceleration-the first slows down)/(first the-the second high speed of low speed)；
Acceleration time refers to that motor accelerates the time required for reaching motor maximum speed from zero-speed；Deceleration time refers to electricity
Machine reduces the time required for reaching zero velocity from maximum speed.
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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810253860.4A CN108544983B (en) | 2018-03-26 | 2018-03-26 | Electri forklift accelerator open degree processing method |
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| Publication Number | Publication Date |
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| CN108544983A CN108544983A (en) | 2018-09-18 |
| CN108544983B true CN108544983B (en) | 2019-05-24 |
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| CN201810253860.4A Active CN108544983B (en) | 2018-03-26 | 2018-03-26 | Electri forklift accelerator open degree processing method |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
Family Cites Families (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 |
| JP3777954B2 (en) * | 2000-07-10 | 2006-05-24 | 株式会社豊田自動織機 | Industrial vehicle drive control device |
| CN106817058B (en) * | 2015-11-27 | 2019-12-10 | 比亚迪股份有限公司 | electric forklift drive control method and device and electric 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 |
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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. |