CN109910848A - Drive formula fork truck service braking system and control method in station - Google Patents
Drive formula fork truck service braking system and control method in station Download PDFInfo
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- CN109910848A CN109910848A CN201910346086.6A CN201910346086A CN109910848A CN 109910848 A CN109910848 A CN 109910848A CN 201910346086 A CN201910346086 A CN 201910346086A CN 109910848 A CN109910848 A CN 109910848A
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Abstract
Formula fork truck service braking system and control method are driven in a kind of station of the invention, can solve the problems, such as that vehicle is easy the technical problem that braking distance is longer and braking impact is larger under sideslip, fully loaded driving status in braking process.The right bearing wheels brake and left bearing wheels brake that formula fork truck is driven based on station further include controller, motor encoder, carrying turns encoder；The alternating current generator, carrying turns encoder, right bearing wheels brake, left bearing wheels brake are communicated to connect with controller respectively；The controller also drives the thumb switch of formula fork truck, brake switch communication connection with station respectively, and the brake switch is connect with the brake pedal that formula fork truck is driven at station.The present invention is braked using driving wheel with bearing wheels jointly, and braking distance is small；By detection driving wheel and bearing wheels relative velocity, driving wheel and bearing wheels braking torque distribution are controlled, vehicle not sideslip in braking process；Realize that switching value triggers variable torque braking system, braking impact is small.
Description
Technical field
The present invention relates to fork truck service brake technical fields, and in particular to formula fork truck service braking system and control are driven in a kind of station
Method processed.
Background technique
Station is driven formula fork truck and is braked using driving wheel, has the following problems: since driving wheel biases, in braking process, and vehicle
It is easy sideslip；Under fully loaded driving status, since driving wheel load is smaller, braking distance is longer；It is driven a vehicle and is made due to digital output modul
Dynamic, braking moment is steady state value, and braking impact is larger.
Summary of the invention
Formula fork truck service braking system and control method are driven in a kind of station proposed by the present invention, can solve vehicle in braking process
It is easy the technical problem that braking distance is longer and braking impact is larger under sideslip problem, fully loaded driving status.
To achieve the above object, the invention adopts the following technical scheme:
Formula fork truck service braking system is driven at a kind of station, based on station drive formula fork truck right bearing wheels brake and left bearing wheels system
Dynamic device, right bearing wheels brake are mounted in right bearing wheels, and left bearing wheels brake is mounted in left bearing wheels, further include control
Device, motor encoder, carrying turns encoder；
The motor encoder is mounted on alternating current generator, for detecting alternating current generator revolving speed；Alternating current generator passes through driving
Gear-box drives drive wheel works；
The carrying turns encoder is mounted on station and drives in the left bearing wheels of formula fork truck, for detecting carrying wheel speed；
The alternating current generator, carrying turns encoder, right bearing wheels brake, left bearing wheels brake are logical with controller respectively
Letter connection；
The controller also drives the thumb switch of formula fork truck, brake switch communication connection, the brake switch with station respectively
The brake pedal for driving formula fork truck with station is connect.
It further, further include battery group, battery group and controller are electrically connected；
Battery group powers to alternating current generator, right bearing wheels brake and left bearing wheels brake by controller.
Further, the thumb switch include respectively with controller communication connection potentiometer, advance switch, after back out
It closes.
On the other hand, invention additionally discloses the control methods that formula fork truck service braking system is driven at a kind of station:
Wherein, with the thumb switch position difference different size of voltage signal C3 of output, variation range is potentiometer:
0-5V retreats switch with 5 position difference output switching signal C1 of thumb switch, and value is 0 or 1, and the switch that advances is with thumb
Refer to position of the switch difference output switching signal C2, value is 0 or 1；
The following steps are included:
(1) first predeterminated voltage signal threshold value Cy1=2.5V, Cy2=5V, and be stored in controller；
(2) when controller detects 0 < C3 < Cy1, C3 voltage signal is become larger, and C2=1, the control exchange of controller 9
Motor 11 carries out regeneration of current braking, and the braking moment of alternating current generator 11 and the tach signal of motor encoder 14 are inversely proportional, with
Motor speed reduces, and motor braking torque increases.
(3) when controller detects Cy1 < C3 < Cy2, C3 voltage signal is gradually become smaller, and C1=1, controller control exchange
Motor carries out regeneration of current braking, and the braking moment of alternating current generator and the tach signal of motor encoder are inversely proportional, and turns with motor
Speed reduces, and motor braking torque increases.
(4) when controller detects C4=0, controller controls alternating current generator and realizes regenerative braking, while controller is held to the right side
Wheel brake and the power supply of left bearing wheels brake are carried, realizes bearing wheels braking.
As shown from the above technical solution, station of the invention is driven formula fork truck service braking system and is had the advantages that
1, the present invention is braked jointly using driving wheel and bearing wheels, and braking distance is small.
2, the present invention controls driving wheel and bearing wheels braking moment point by detection driving wheel and bearing wheels relative velocity
Match, vehicle not sideslip in braking process.
3, the present invention realizes that switching value triggers variable torque braking system, and braking impact is small.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.
As shown in Figure 1, the right side that formula fork truck service braking system system drives formula fork truck based on station is driven at the station of the embodiment of the present invention
Bearing wheels brake 1 and left bearing wheels brake 15, right bearing wheels brake 1 are mounted in right bearing wheels 2, left bearing wheels braking
Device 15 is mounted in left bearing wheels 16, it is characterised in that: further includes controller 9, motor encoder 14, carrying turns encoder 17；
The motor encoder 14 is mounted on alternating current generator 11, for detecting alternating current generator revolving speed；Alternating current generator 11 is logical
Gear-box 12 of overdriving drives driving wheel 13 to work；
The carrying turns encoder 17 is mounted on station and drives in the left bearing wheels 16 of formula fork truck, for detecting carrying wheel speed；
The alternating current generator 11, carrying turns encoder 17, right bearing wheels brake 1, left bearing wheels brake 15 respectively with
Controller 9 communicates to connect；
The controller 9 also drives the thumb switch 5 of formula fork truck with station respectively, brake switch 4 communicates to connect, and the braking is opened
The brake pedal 3 that 4 drive formula fork truck with station is closed to connect.
Wherein, product of the controller using ZAPI company, Italy, model: ACE2-350, voltage rating: 48V, maximum electricity
Flow (2min): 350A.
Specifically thumb switch 5 is made of potentiometer 6, the switch 7 that advances, retrogressing switch 8.Brake pedal 3 is opened with braking
4 connections are closed, are exported by the signal that brake pedal 3 controls brake switch 4, when brake pedal 3, brake switch 4 is closed
(C4=1)；When loosen the brake 3 when, brake switch 4 disconnect (C4=0).Battery group 10 is by controller 9 to alternating current
Machine 11, right bearing wheels brake 1 and the power supply of left bearing wheels brake 15；Regenerative current when alternating current generator 11 is braked passes through control
Device 9 recharges in battery group 10.Right bearing wheels brake 1 is mounted in right bearing wheels 2, and left bearing wheels brake 15 is mounted on
In left bearing wheels 16.Carrying turns encoder 17 is mounted in left bearing wheels 16, detection carrying wheel speed.Motor encoder 14 is installed
On alternating current generator 11, alternating current generator revolving speed is detected.
Control method of the invention is as follows:
Potentiometer 6 exports different size of voltage signal C3 with 5 position difference of thumb switch, and variation range is: 0-
5V retreats switch 8 with 5 position difference output switching signal C1 of thumb switch, and value is 0 or 1, and the switch 7 that advances is with thumb
Refer to 5 position difference output switching signal C2 of switch, value is 0 or 1；
The following steps are included:
(1) first predeterminated voltage signal threshold value Cy1=2.5V, Cy2=5V, and be stored in controller 9；
(2) when controller 9 detects 0 < C3 < Cy1, C3 voltage signal is become larger, and C2=1, the control exchange of controller 9
Motor 11 carries out regeneration of current braking, and the braking moment of alternating current generator 11 and the tach signal of motor encoder 14 are inversely proportional, with
Motor speed reduces, and motor braking torque increases.
(3) when controller 9 detects Cy1 < C3 < Cy2, C3 voltage signal is gradually become smaller, and C1=1, and the control of controller 9 is handed over
Galvanic electricity machine 11 carries out regeneration of current braking, and the braking moment of alternating current generator 11 and the tach signal of motor encoder 14 are inversely proportional,
Reduce with motor speed, motor braking torque increases.
(4) when controller 9 detects C4=0, controller 9 controls alternating current generator 11 and realizes regenerative braking, while controller 9 is given
Right bearing wheels brake 1 and the power supply of left bearing wheels brake 15, realize bearing wheels braking.The braking moment and electricity of alternating current generator 11
The tach signal of machine encoder 14 is inversely proportional, and reduces with motor speed, and motor braking torque increases.Right bearing wheels brake 1 and
The braking moment of left bearing wheels brake 15 is inversely proportional with carrying 17 tach signal of turns encoder, as carrying wheel speed reduces,
The braking moment of left and right bearing wheels brake increases.In service braking operation, 14 real-time detection alternating current generator 11 of motor encoder
Revolving speed, controller 9 calculate driving wheel according to parameters such as driving 12 speed ratio of gear-box, 11 revolving speeds of 13 diameter of driving wheel and alternating current generator
13 linear velocities carry left 16 revolving speed of bearing wheels of 17 real-time detection of turns encoder, and controller 9 is according to left 16 diameter of bearing wheels and Zuo Cheng
It carries the parameters such as 16 revolving speeds of wheel and calculates left 16 linear velocity of bearing wheels；Controller 9 is according to 16 line of 13 linear velocity of driving wheel and left bearing wheels
The size of speed adjusts the braking moment of alternating current generator 11 and the braking moment of left and right bearing wheels brake in real time, works as driving wheel
When 13 linear velocity is smaller, reduce the braking moment of alternating current generator 11, when the linear velocity of left bearing wheels 16 is smaller, reduces left and right
The braking moment of bearing wheels brake, until driving wheel 11 is equal with the linear velocity of left bearing wheels 16.
Working principle is as follows:
6 output voltage signal C3 of potentiometer (its variation range is: 0-5V), when thumb switch is in middle position, potentiometer
Output voltage signal C3=2.5V, when thumb switch is pushed forward, potentiometer output voltage signal variation range 2.5-0V works as thumb
When switching post-tensioning, potentiometer output voltage signal variation range 2.5-5V.Retrogressing switching signal C1 is switching signal, and value is
0 or 1, it as C1=1, indicates that retrogressing closes the switch, is issued to controller and retreat request, as C1=0, indicate that retrogressing switch is disconnected
It opens.Advance switching signal C2 is switching signal, and value is 0 or 1, and as C2=1, indicating to advance is closed the switch, to controller
Request of advancing is issued, as C2=0, indicates that advance switch disconnects.
Service brake (braking of release thumb switch) when forward travel: vehicle (controller 9 during moving forward
It detects 0) revolving speed of alternating current generator 11 is greater than by motor encoder 14, discharges thumb switch 5, controller 9 detects advance
The signal C2=1 that switch 7 exports, while the voltage signal C3 that potentiometer 6 exports becomes larger, and shows that driver issues driving system of advancing
Dynamic request；Controller 9 cuts off battery group 10 and powers to 11 stator of alternating current generator, motor inertia rotation, while controller 9 is controlled
Battery group 10 processed powers (in comparison power is smaller) to 11 rotor of alternating current generator, generates magnetic field, which passes through rotor
Be physically rotated, the winding of cutting stator, stator then induces electromotive force, this electromotive force gives battery group by controller 9
10 chargings, realize Brake energy recovery.10 rotor stress of alternating current generator is slowed down simultaneously, realizes braking.Control strategy: alternating current generator
Braking moment is related to motor speed, becomes smaller with alternating current generator revolving speed, braking moment becomes larger.Severity of braking is relatively weak at this time,
Braking distance is relatively long, can utmostly recycle braking energy, for braking under normal circumstances.
Service brake (braking of release thumb switch) when vehicle travel backwards: vehicle (controller 9 in driving process backward
It detects 0) revolving speed of alternating current generator 11 is greater than by motor encoder 14, discharges thumb switch 5, controller 9 detects retrogressing
The signal C1=1 that switch 8 exports, while the voltage signal C3 that potentiometer 6 exports becomes smaller, and shows that driver issues and retreats driving system
Dynamic request；Controller 9 cuts off battery group 10 and powers to 11 stator of alternating current generator, motor inertia rotation, while controller 9 is controlled
Battery group 10 processed powers (in comparison power is smaller) to 11 rotor of alternating current generator, generates magnetic field, which passes through rotor
Be physically rotated, the winding of cutting stator, stator then induces electromotive force, this electromotive force gives battery group by controller 9
10 chargings, realize Brake energy recovery.10 rotor stress of alternating current generator is slowed down simultaneously, realizes braking.Control strategy: alternating current generator
Braking moment is related to motor speed, reduces with alternating current generator revolving speed, and braking moment increases.Severity of braking is relatively weak at this time,
Braking distance is relatively long, can utmostly recycle braking energy, for braking under normal circumstances.
Vehicle driving service brake (braking of release brake pedal): vehicle in the process of moving (compiled by motor by controller 9
Code device 14 detects 0) revolving speed of alternating current generator 11 is greater than, and discharges thumb switch 5, while discharging brake pedal 3, controller 9 is examined
The signal C4=0 for measuring brake switch 4 shows that driver issues urgent service brake request；Controller 9 controls alternating current generator 11
It realizes regenerative braking, while controller 9 is powered to right bearing wheels brake 1 and left bearing wheels brake 15, realizes bearing wheels system
It is dynamic.Control strategy: AC motor brake torque is related to motor speed, reduces with alternating current generator revolving speed, and braking moment increases；It is right
The braking moment of bearing wheels brake and left bearing wheels brake is related to carrying wheel speed, as carrying wheel speed reduces, control
The electric current of device supply left and right bearing wheels brake processed increases, and the braking moment of left and right bearing wheels brake increases；Realize switching value
Variable torque braking is triggered, braking impact is small.In service braking operation, motor encoder real-time detection alternating current generator revolving speed, control
Device processed calculates driving wheel linear velocity, bearing wheels according to driving gear-box speed ratio, the driving parameters such as wheel diameter and alternating current generator revolving speed
Encoder real-time detection carries wheel speed, and controller calculates bearing wheels linear speed according to the parameters such as carrying wheel diameter and carrying wheel speed
Degree；Controller adjusts braking moment and the left side of alternating current generator according to driving wheel linear velocity and the size of bearing wheels linear velocity in real time
The braking moment of right bearing wheels brake reduces the braking moment of alternating current generator, works as carrying when the linear velocity of driving wheel is smaller
When the linear velocity of wheel is smaller, reduce the braking moment of left and right bearing wheels brake, until the linear velocity phase of driving wheel and bearing wheels
Deng；Controller adjusts driving wheel and bearing wheels braking torque distribution in real time, reduces braking distance, guarantees that vehicle is not in braking process
Sideslip.
To sum up, the embodiment of the present invention has the advantages that following aspect:
1, it is braked jointly using driving wheel and bearing wheels, braking distance is small；
2, driving wheel and bearing wheels braking torque distribution are controlled, vehicle not sideslip in braking process；
3, realize that switching value triggers variable torque braking system, braking impact is small, and driver comfort is high.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (4)
1. formula fork truck service braking system is driven at a kind of station, based on station drive formula fork truck right bearing wheels brake (1) and left bearing wheels
Brake (15), right bearing wheels brake (1) are mounted on right bearing wheels (2), and left bearing wheels brake (15) is mounted on a left side and holds
It carries on wheel (16), it is characterised in that: further include controller (9), motor encoder (14), carrying turns encoder (17)；
The motor encoder (14) is mounted on alternating current generator (11), for detecting alternating current generator revolving speed；Alternating current generator (11)
Driving wheel (13) work is driven by driving gear-box (12)；
Carrying turns encoder (17) is mounted on station and drives in the left bearing wheels (16) of formula fork truck, for detecting carrying wheel speed；
The alternating current generator (11), carrying turns encoder (17), right bearing wheels brake (1), left bearing wheels brake (15) point
It is not communicated to connect with controller (9)；
The controller (9) also drives the thumb switch (5) of formula fork truck, brake switch (4) communication connection, the braking with station respectively
Switch (4) is connect with the brake pedal (3) that formula fork truck is driven at station.
2. formula fork truck service braking system is driven at station according to claim 1, it is characterised in that: further include battery group
(10), battery group (10) and controller (9) are electrically connected；
Battery group (10) is by controller (9) to alternating current generator (11), right bearing wheels brake (1) and left bearing wheels brake
(15) it powers.
3. formula fork truck service braking system is driven at station according to claim 2, it is characterised in that: thumb switch (5) packet
It includes and switchs (8) with the potentiometer (6) of controller (9) communication connection, the switch (7) that advances, retrogressing respectively.
4. the control method that formula fork truck service braking system is driven at a kind of station, it is characterised in that: driven using station as claimed in claim 3
Formula fork truck service braking system, wherein potentiometer (6) is believed as thumb switch (5) position difference exports different size of voltage
Number C3, variation range is: 0-5V, retreats switch (8) with thumb switch (5) position difference output switching signal C1, takes
Value is 0 or 1, and for the switch (7) that advances with 5 position difference output switching signal C2 of thumb switch, value is 0 or 1；
The following steps are included:
First predeterminated voltage signal threshold value Cy1=2.5V, Cy2=5V, and be stored in controller (9)；
When controller (9) detects 0 < C3 < Cy1, C3 voltage signal is become larger, and C2=1, and controller (9) controls alternating current
Machine (11) carries out regeneration of current braking, and the braking moment of alternating current generator (11) and the tach signal of motor encoder (14) are at anti-
Than reducing with motor speed, motor braking torque increases；
When controller (9) detects Cy1 < C3 < Cy2, C3 voltage signal is gradually become smaller, and C1=1, controller (9) control exchange
Motor (11) carries out regeneration of current braking, and the braking moment of alternating current generator (11) and the tach signal of motor encoder (14) are at anti-
Than reducing with motor speed, motor braking torque increases；
When controller (9) detect C4=0, controller (9) controls alternating current generator (11) and realizes regenerative braking, while controller (9)
It powers to right bearing wheels brake (1) and left bearing wheels brake (15), realizes bearing wheels braking.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910346086.6A CN109910848B (en) | 2019-04-26 | 2019-04-26 | Driving braking system and control method of standing forklift |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910346086.6A CN109910848B (en) | 2019-04-26 | 2019-04-26 | Driving braking system and control method of standing forklift |
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| CN109910848A true CN109910848A (en) | 2019-06-21 |
| CN109910848B CN109910848B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910346086.6A Active CN109910848B (en) | 2019-04-26 | 2019-04-26 | Driving braking system and control method of standing forklift |
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Cited By (1)
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| CN109910848B (en) | 2023-09-22 |
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