CN110733355B - Micro-motion control method, device and equipment for electric loading vehicle - Google Patents
Micro-motion control method, device and equipment for electric loading vehicle Download PDFInfo
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- CN110733355B CN110733355B CN201911072327.9A CN201911072327A CN110733355B CN 110733355 B CN110733355 B CN 110733355B CN 201911072327 A CN201911072327 A CN 201911072327A CN 110733355 B CN110733355 B CN 110733355B
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- inching
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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
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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
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- 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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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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
- 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
- B60L2240/423—Torque
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/48—Drive Train control parameters related to transmissions
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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
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- 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
Abstract
The invention discloses a inching control method of an electric loading vehicle, wherein the control method in the application of driving torque can calculate the target driving torque sent to a driving motor according to the opening degree of a brake pedal, and under the existing vehicle design, a driver can control the magnitude of braking force through the opening degree of the brake pedal, so that the driver only needs to operate a single brake pedal, the driving torque can simultaneously control the driving torque and the magnitude of the braking force sent to the driving motor, inching control of the electric loading vehicle under the condition of heavy load is facilitated, the operation difficulty is lower, the vehicle is easily and thoroughly stopped by stepping on the brake pedal, the risk of collision accidents is reduced, the loss is reduced, and the operation efficiency and the operation precision are improved. The invention also discloses a micro-motion control device and equipment of the electric loading vehicle, and the micro-motion control device and equipment have the same beneficial effects as the micro-motion control method of the electric loading vehicle.
Description
Technical Field
The invention relates to the field of loading vehicles, in particular to a micro-motion control method of an electric loading vehicle, and further relates to a micro-motion control device and equipment of the electric loading vehicle.
Background
Electric loading vehicles can be used for loading and transferring goods, which in some cases require slow movement, i.e. inching, under heavy loads, which at the same time requires the drive motor to output a large drive torque and the vehicle to travel at low speeds. For example, when an electric loading vehicle needs to transfer goods to a truck, the electric loading vehicle needs to slowly approach the truck under the condition of carrying heavy objects so as to ensure safety and operation precision, and then the goods can be transferred. In order to achieve inching, it is generally required in the prior art that a driver controls the amount of torque provided by a drive motor through a power pedal while controlling the amount of resistance generated by wheels through a brake pedal so as to control the vehicle speed to be maintained at a low level. The driver needs to coordinate and control two pedals to realize inching in the operation process, the operation difficulty is high, and once the vehicle speed is not controlled, collision accidents are very easy to happen and loss is caused.
Therefore, how to provide a solution to the above technical problem is a problem that a person skilled in the art needs to solve at present.
Disclosure of Invention
The invention aims to provide a micro-motion control method for an electric loading vehicle, which reduces the micro-motion control difficulty, reduces the risk of collision accidents, reduces loss and improves the operation efficiency and the operation precision; another object of the present invention is to provide a jog control device and apparatus for an electric loading vehicle, which reduces the jog control difficulty, reduces the risk of collision accidents, reduces the loss, and improves the work efficiency and the work accuracy.
In order to solve the above technical problems, the present invention provides a jog control method for an electric loading vehicle, which is applied to the electric loading vehicle, and includes:
acquiring the current opening of a brake pedal;
determining a target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque;
controlling a drive motor in the electric loading vehicle to provide the target drive torque.
Preferably, before determining the target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque, the inching control method of the electric loading vehicle further includes:
acquiring the current speed of the electric loading vehicle;
and determining that the target driving torque is specifically:
and determining a target driving torque according to the current opening, the current vehicle speed, the preset opening and the corresponding relation between the vehicle speed and the driving torque.
Preferably, before the current opening degree of the brake pedal is obtained, the inching control method of the electric loading vehicle further includes:
judging whether the electric loading vehicle meets a preset inching enabling condition or not;
if yes, prompting that inching is available;
the step of obtaining the current opening of the brake pedal specifically comprises the following steps:
and responding to the inching function starting instruction, and acquiring the current opening of the brake pedal.
Preferably, the preset jog enabling condition includes:
the load of the electric loading vehicle is larger than a preset threshold value, the gear of the electric loading vehicle is a forward gear, the driving motor and the controller thereof have no overheat faults, and the cooling system of the driving motor and the controller thereof has no faults.
Preferably, after prompting that inching is available if the current opening of the brake pedal is obtained in response to the inching function starting instruction, the inching control method of the electric loading vehicle further comprises:
judging whether the driving torque corresponding to the current opening of the brake pedal is zero or not according to the corresponding relation between the preset opening and the driving torque;
if yes, the jog is prompted to be activated, so that a user is prompted to activate a jog function.
Preferably, after the current opening degree of the brake pedal is obtained in response to the inching function on command, the inching control method of the electric loading vehicle further includes:
judging whether the electric loading vehicle meets a preset inching exit condition or not;
if yes, controlling the electric loading vehicle to exit the inching mode so as to restore the conventional driving mode;
wherein the jog exit condition includes any one of:
the electric loading vehicle has the advantages that the gear of the electric loading vehicle is not a forward gear, the inching mode closing instruction is received, the opening degree of the brake pedal is non-zero, the duration time of the condition that the vehicle speed is zero is longer than the preset duration time, at least one of the driving motor and the controller thereof has overheat faults, and at least one of the driving motor and the controller thereof has faults in a heat dissipation system.
Preferably, the inching control method of the electric loading vehicle further includes:
judging whether the temperature of any one of the driving motor and the controller thereof exceeds a corresponding temperature early warning threshold value;
if yes, alarming is carried out.
Preferably, if yes, the alarming specifically comprises:
if yes, judging whether the vehicle speed is zero;
and if the vehicle speed is zero, controlling the driving torque of the driving motor to be converted between the driving torque corresponding to the opening degree of the brake pedal and the zero driving torque at a preset frequency so as to generate vibration and alarm.
In order to solve the above technical problem, the present invention further provides a jog control device for an electric loading vehicle, which is applied to the electric loading vehicle, and includes:
the acquisition module is used for acquiring the current opening of the brake pedal;
the determining module is used for determining target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque;
a control module for controlling a drive motor in the electric loading vehicle to provide the target drive torque.
In order to solve the above technical problem, the present invention further provides a jog control device for an electric loading vehicle, which is applied to the electric loading vehicle, and includes:
a memory for storing a computer program;
a processor for implementing the steps of the inching control method of the electric loading vehicle according to any one of the above when executing the computer program.
The invention provides a inching control method of an electric loading vehicle, which can calculate the target driving torque sent to a driving motor according to the opening degree of a brake pedal, and under the existing vehicle design, a driver can control the magnitude of braking force through the opening degree of the brake pedal, so that the driver only needs to operate a single brake pedal, and can control the driving torque and the magnitude of the braking force sent to the driving motor at the same time, thus being convenient for inching control of the electric loading vehicle under the condition of heavy load, having lower operation difficulty, being easy to thoroughly stop the vehicle by stepping on the brake pedal, reducing the risk of collision accidents, reducing loss and improving the working efficiency and the working precision.
The invention also provides a micro-motion control device and equipment of the electric loading vehicle, and the micro-motion control device and equipment have the same beneficial effects as those of the micro-motion control method of the electric loading vehicle.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a inching control method for an electric loading vehicle according to the present invention;
fig. 2 is a schematic structural diagram of a jog control device for an electric loading vehicle according to the present invention;
fig. 3 is a schematic structural diagram of a jog control device for an electric loading vehicle according to the present invention.
Detailed Description
The invention has the core of providing a inching control method of an electric loading vehicle, which reduces the inching control difficulty, reduces the risk of collision accidents, reduces the loss and improves the working efficiency and the working precision; the invention further provides a inching control device and equipment for the electric loading vehicle, which reduces inching control difficulty, reduces risk of collision accidents, reduces loss and improves operation efficiency and operation precision.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a flow chart of a inching control method for an electric loading vehicle according to the present invention, which includes:
step S1: acquiring the current opening of a brake pedal;
specifically, the current opening degree of the brake pedal may provide a data basis for various subsequent processes, and the opening degree of the brake pedal generally refers to a percentage of a total stroke of the brake pedal (when the brake pedal is not depressed, the opening degree is 0%), which is not limited herein.
The current opening degree of the brake pedal may be obtained by using a sensor, for example, a position sensor, etc., which is not limited herein.
Step S2: determining a target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque;
specifically, the corresponding relation between the opening and the driving torque can be preset in the processor of the electric loading vehicle in advance, so that after the processor of the electric loading vehicle obtains the current opening, the target driving torque corresponding to the current opening can be determined by combining the preset corresponding relation, and the determined target driving torque can be used as an execution standard of a subsequent step so as to realize safe and convenient inching control on the electric loading vehicle.
The corresponding relation between the preset opening degree and the driving torque can be in various forms, for example, when the opening degree is larger, namely the brake pedal is depressed deeper, the corresponding driving torque is smaller, under the condition that the pedal is depressed deeper, even the pedal is depressed to the bottom, the electric load vehicle can be controlled in speed easily, the safety is improved, and under the condition that the pedal is depressed to the bottom, the braking force is strongest, and when the driving torque generated by the motor is the smallest, the generation of heat can be reduced, and the waste of energy is reduced.
Of course, the corresponding relationship between the preset opening and the driving torque may be in other various forms, and the embodiment of the present invention is not limited herein.
Step S3: a drive motor in an electric loading vehicle is controlled to provide a target drive torque.
Specifically, after determining the target driving torque, the processor of the electric loading vehicle can control the driving motor to output the target driving torque so as to provide power for the electric loading vehicle, and in the specific control process, as the opening degree of the brake pedal correspondingly controls the magnitude of the driving torque and the magnitude of the braking force at the same time, the driver can independently use the brake pedal to perform inching control on the electric loading vehicle, for example, when the driver starts to pedal the brake pedal to the bottom, the driving torque is zero and the braking force is the largest, the vehicle speed at the moment is zero, the driving torque is increased along with the slow release of the brake pedal, the braking force is reduced along with the slow release of the brake pedal, and the electric loading vehicle also gradually has the speed.
The method in the embodiment of the present invention may be applied to other types of vehicles, as long as the mapping relationship between the opening degree of the brake pedal and the driving torque of the driving motor can be established, for example, the method may also be applied to a common electric loading vehicle, and the embodiment of the present invention is not limited herein.
The processor of the electric loading vehicle applied by the method in the embodiment of the present invention may be various, for example, may be an electric loading vehicle main controller, etc., and the embodiment of the present invention is not limited herein.
It should be noted that the inching control method of the electric loading vehicle in the embodiment of the present invention may be applied to engineering vehicles such as a wheel-type electric loader and a wheel-type electric forklift, and the embodiment of the present invention is not limited herein.
The invention provides a inching control method of an electric loading vehicle, which can calculate target driving torque sent to a driving motor according to the opening degree of a brake pedal, and under the existing vehicle design, a driver can control the magnitude of braking force through the opening degree of the brake pedal, so that the driver only needs to operate a single brake pedal, and can control the magnitude of driving torque and braking force sent to the driving motor at the same time, thus being convenient for inching control of the electric loading vehicle under the condition of large load, having lower operation difficulty, being easy to thoroughly stop the vehicle by stepping on the brake pedal, reducing the risk of collision accidents, reducing loss and improving the working efficiency and working precision.
Based on the above embodiments:
as a preferred embodiment, before determining the target driving torque according to the current opening and the preset correspondence between the opening and the driving torque, the inching control method of the electric loading vehicle further includes:
acquiring the current speed of the electric loading vehicle;
according to the corresponding relation between the current opening and the preset opening and the driving torque, determining that the target driving torque is specifically:
and determining the target driving torque according to the current opening, the current vehicle speed, the preset opening and the corresponding relation between the vehicle speed and the driving torque.
Specifically, because of limitation of the maximum power of the driving motor, when the speed of the vehicle is higher (i.e. the rotating speed of the driving motor is higher), the maximum driving torque provided by the driving motor is smaller, so that if only the corresponding relation between the opening and the driving torque is established, the maximum driving torque in the corresponding relation is definitely smaller, and therefore, the corresponding relation between the opening and the speed and the driving torque is established in the embodiment of the invention, namely, the driving torque is related to the opening and the vehicle speed, so that the rated power of the driving electric can be well utilized, and the driving torque output by the driving motor is improved.
Referring to table 1 below, table 1 is a preset comparison table of the corresponding relation between the opening degree and the vehicle speed and the driving torque, wherein the leftmost column is the opening degree of the brake pedal (the percentage of the total stroke of the pedal stroke), the uppermost column is the current speed of the electric loading vehicle, and the rest is the percentage of the target driving torque and the peak driving torque of the driving motor.
TABLE 1
| 1 | 2 | 3 | |
| 0 | 100 | 100 | 50 |
| 20 | 100 | 100 | 50 |
| 40 | 60 | 60 | 30 |
| 60 | 20 | 20 | 10 |
| 80 | 0 | 0 | 0 |
Of course, the preset opening degree and the corresponding relation between the vehicle speed and the driving torque may be other specific forms besides the preset opening degree and the corresponding relation between the vehicle speed and the driving torque listed in table 1, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the inching control method of the electric loading vehicle further includes, before the current opening degree of the brake pedal is obtained:
judging whether the electric loading vehicle meets preset inching enabling conditions or not;
if yes, prompting that inching is available;
the current opening of the brake pedal is obtained specifically as follows:
and responding to the inching function starting instruction, and acquiring the current opening of the brake pedal.
Specifically, the inching control method of the electric loading vehicle in the foregoing embodiment may be used under the condition that the inching mode is turned on, where certain conditions are required for the inching mode to be turned on to ensure the safety of the vehicle itself and related personnel.
The manner in which the jog is indicated may be various, for example, the jog may be displayed by a related meter on the vehicle, and embodiments of the present invention are not limited herein.
Specifically, the opening instruction of the micro-motion function may be actively sent by a worker through an external man-machine interaction device, for example, the opening instruction of the micro-motion function may be sent through a touch screen or a button, etc., which is not limited herein.
As a preferred embodiment, the preset jog enabling conditions include:
the load of the electric loading vehicle is larger than a preset threshold value, the gear of the electric loading vehicle is a forward gear, the driving motor and the controller thereof have no overheat faults, and the cooling system of the driving motor and the controller thereof has no faults.
Specifically, in the jog mode, the greater the load of the electric loading vehicle, the easier it is to control the vehicle to move at a slower speed, if the load is not greater than the preset threshold, the jog mode is less safe and it is unavoidable to convert the electric energy into heat energy, while the forward gear is required because the electric loading vehicle needs to be closely attached to a truck in front and the like and finish the unloading in front when unloading, and finally, the two kinds of fault-free restrictions are well understood, because the driving motor and the controller thereof further generate heat in the jog mode, it is necessary to ensure that the driving motor and the controller thereof do not overheat.
Specifically, the above-mentioned micro-motion enabling condition can well ensure the safety of the electric loading vehicle and the related personnel, and of course, the micro-motion enabling condition can be of other types besides the above-mentioned micro-motion enabling condition, and the embodiment of the invention is not limited herein.
As a preferred embodiment, if yes, after prompting that inching is available, in response to an inching function on command, before obtaining the current opening of the brake pedal, the inching control method of the electric loading vehicle further includes:
judging whether the driving torque corresponding to the current opening of the brake pedal is zero or not according to the corresponding relation between the preset opening and the driving torque;
if yes, the jog is prompted to be activated, so that a user is prompted to activate a jog function.
Specifically, if the driving motor provides driving torque at the moment of starting the inching mode, a driver is more likely to react and not generate a collision accident, and in order to ensure that the driving motor does not provide driving torque at the moment of starting the inching mode, in the embodiment of the invention, the driving torque corresponding to the current opening of the brake pedal needs to be determined to be zero, inching is prompted to be activated at the moment, and a user is allowed to start the inching mode through an instruction, so that the safety is further improved.
A specific example of determining whether the driving torque corresponding to the current opening of the brake pedal is zero is, for example, in the correspondence, when the opening of the brake pedal reaches 80% under the condition of no matter how high speed the vehicle is, it may be determined whether the opening of the brake pedal is greater than 80%, if so, inching may be prompted to be activated, and of course, 80% may be replaced by another value, and the setting in the correspondence is specifically considered.
The indication of the micro-motion to be activated may be performed in various manners, for example, by using an original instrument on the vehicle, which is not limited herein.
As a preferred embodiment, after acquiring the current opening degree of the brake pedal in response to the inching function on command, the inching control method of the electric loading vehicle further includes:
judging whether the electric loading vehicle meets preset inching exit conditions or not;
if yes, controlling the electric loading vehicle to exit the inching mode so as to restore the conventional driving mode;
wherein the jog exit condition includes any one of:
the method comprises the steps of enabling a gear of an electric loading vehicle to be in a non-forward gear, receiving a inching mode closing instruction, enabling the opening degree of a brake pedal to be non-zero and enabling the duration of the condition that the vehicle speed is zero to be longer than a preset duration, enabling at least one of a driving motor and a controller thereof to be in overheat, and enabling at least one of a cooling system of the driving motor and the controller thereof to be in fault.
Specifically, the inching mode is to exit no matter the inching mode is used up or the safety of the vehicle and related personnel is affected, the most common exiting mode can be that a user sends an exiting command through a man-machine interaction device, then the processor can control the vehicle to resume the conventional driving mode, and the conventional driving mode refers to controlling the driving torque of the driving motor through a power pedal and controlling the braking force on wheels through a brake pedal.
Besides the above-mentioned receiving of the inching mode closing instruction, the inching exit condition can ensure the correct use of the inching mode by the exit of the non-forward gear, electric energy waste can not be carried out under the condition of the non-forward gear, the situation that the opening of the brake pedal is non-zero and the vehicle speed is zero lasts longer than the preset duration can prevent the dangerous situation that the driver forgets that the vehicle is in the inching mode due to the fact that the driver is in the absence of mind or has the fact that the vehicle speed is controlled to be zero temporarily, if the driver suddenly releases the brake under the situation, accidents easily occur, and excessive electric energy waste is easily caused when the driver is in the inching mode for a long time.
Of course, the jog-exit condition may include other types in addition to the jog-exit conditions mentioned above, and embodiments of the present invention are not limited herein.
The preset duration may be set autonomously, for example, may be set to 30s, etc., which is not limited herein.
As a preferred embodiment, the inching control method of the electric loading vehicle further includes:
judging whether the temperature of any one of the driving motor and the controller thereof exceeds a corresponding temperature early warning threshold value;
if yes, alarming is carried out.
Specifically, in the inching mode, the driving motor generates a large amount of heat energy in a locked state, so that the temperature of the driving motor and the controller thereof can be increased, and if the temperature of any one detected in the case exceeds the corresponding temperature early warning threshold value, the alarm can be controlled to prevent the driving motor or the controller from being damaged.
The temperature value of the driving motor controller is generally represented by an IGBT (Insulated Gate Bipolar Transistor ) in the controller, however, the temperature of the controller may be detected at other positions of the controller, and the embodiment of the invention is not limited herein.
As a preferred embodiment, if yes, the alarm is specifically:
if yes, judging whether the vehicle speed is zero;
if the vehicle speed is zero, the driving torque of the driving motor is controlled to be converted between the driving torque corresponding to the opening degree of the brake pedal and the zero driving torque at a preset frequency so as to generate vibration and alarm.
Specifically, in the embodiment of the present invention, the judgment of whether the vehicle speed is zero is combined, that is, even if the temperature of any one of the driving motor and the controller thereof exceeds the corresponding temperature early warning threshold, or both of them exceed the corresponding temperature early warning threshold, if the vehicle is in motion, the vehicle can be allowed to continue to use without generating an alarm due to the short time used under the normal condition of the jog mode, but the temperature early warning threshold at this time cannot be set as a fault alarm threshold (a temperature threshold capable of instantaneously causing a fault), but is set to be slightly lower than the fault alarm threshold, for example, 20 ℃ lower than the fault alarm threshold, etc., and the embodiment of the present invention is not limited herein.
Under the condition that the vehicle speed is zero, the driver can forget to be in the inching mode, so that the alarm can be controlled to alarm at the moment to remind the driver to exit the inching mode as soon as possible to prevent faults.
Of course, the temperature early warning threshold divided by the value lower than the fault warning threshold may be set autonomously, and is not necessarily fixed to be 20 ℃ lower, which is not limited in the embodiment of the present invention.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a jog control device for an electric loading vehicle, which is applied to the electric loading vehicle and includes:
an acquisition module 1 for acquiring a current opening of a brake pedal;
the determining module 2 is used for determining a target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque;
a control module 3 for controlling a drive motor in the electric loading vehicle to provide a target drive torque.
For the description of the inching control device for an electric loading vehicle provided by the embodiment of the present invention, reference is made to the foregoing embodiment of the inching control method for an electric loading vehicle, and the embodiment of the present invention is not repeated herein.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a jog control device for an electric loading vehicle, which is applied to the electric loading vehicle and includes:
a memory 4 for storing a computer program;
a processor 5 for implementing the steps of the jog control method of any one of the electric loading vehicles as above when executing a computer program.
For the description of the inching control device for an electric loading vehicle provided by the embodiment of the present invention, reference is made to the foregoing embodiment of the inching control method for an electric loading vehicle, and the embodiment of the present invention is not repeated herein.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should also be noted that in this specification the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A jog control method of an electric loading vehicle, applied to an electric loading vehicle, characterized by comprising:
acquiring the current opening of a brake pedal;
determining a target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque;
controlling a drive motor in the electric loading vehicle to provide the target drive torque;
before the current opening degree of the brake pedal is obtained, the inching control method of the electric loading vehicle further comprises the following steps:
judging whether the electric loading vehicle meets a preset inching enabling condition or not;
if yes, prompting that inching is available;
the step of obtaining the current opening of the brake pedal specifically comprises the following steps:
responding to a inching function starting instruction, and acquiring the current opening of a brake pedal;
before determining the target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque, the inching control method of the electric loading vehicle further comprises the following steps:
acquiring the current speed of the electric loading vehicle;
and determining that the target driving torque is specifically:
determining a target driving torque according to the current opening, the current vehicle speed, the preset opening and the corresponding relation between the vehicle speed and the driving torque, so that the current vehicle speed of the motor can be matched with the rated power of the motor;
the preset jog enabling conditions include: the load of the electric loading vehicle is greater than a preset threshold.
2. The jog control method of an electric loading vehicle of claim 1, wherein the preset jog enabling condition further comprises:
the gear of the electric loading vehicle is a forward gear, the driving motor and the controller thereof have no overheat faults, and the cooling system of the driving motor and the controller thereof have no faults.
3. The inching control method of an electric loading vehicle according to claim 1, wherein after prompting that inching is available if yes, the inching control method of an electric loading vehicle further comprises, before acquiring a current opening of a brake pedal in response to an inching function on command:
judging whether the driving torque corresponding to the current opening of the brake pedal is zero or not according to the corresponding relation between the preset opening and the driving torque;
if yes, the jog is prompted to be activated, so that a user is prompted to activate a jog function.
4. The inching control method of an electric loading vehicle according to claim 3, characterized in that after the current opening degree of the brake pedal is obtained in response to the inching function on command, the inching control method of an electric loading vehicle further comprises:
judging whether the electric loading vehicle meets a preset inching exit condition or not;
if yes, controlling the electric loading vehicle to exit the inching mode so as to restore the conventional driving mode;
wherein the jog exit condition includes any one of:
the electric loading vehicle has the advantages that the gear of the electric loading vehicle is not a forward gear, the inching mode closing instruction is received, the opening degree of the brake pedal is non-zero, the duration time of the condition that the vehicle speed is zero is longer than the preset duration time, at least one of the driving motor and the controller thereof has overheat faults, and at least one of the driving motor and the controller thereof has faults in a heat dissipation system.
5. The inching control method of an electric loading vehicle according to any one of claims 1 to 4, characterized in that the inching control method of an electric loading vehicle further includes:
judging whether the temperature of any one of the driving motor and the controller thereof exceeds a corresponding temperature early warning threshold value;
if yes, alarming is carried out.
6. The inching control method of an electric loading vehicle according to claim 5, wherein if yes, the alarming specifically comprises:
if yes, judging whether the vehicle speed is zero;
and if the vehicle speed is zero, controlling the driving torque of the driving motor to be converted between the driving torque corresponding to the opening degree of the brake pedal and the zero driving torque at a preset frequency so as to generate vibration and alarm.
7. A jog control device for an electric loading vehicle, which is applied to an electric loading vehicle, comprising:
the acquisition module is used for acquiring the current opening of the brake pedal;
the determining module is used for determining target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque;
a control module for controlling a drive motor in the electric loading vehicle to provide the target drive torque;
before the current opening degree of the brake pedal is obtained, the inching control device of the electric loading vehicle further comprises:
judging whether the electric loading vehicle meets a preset inching enabling condition or not;
if yes, prompting that inching is available;
the step of obtaining the current opening of the brake pedal specifically comprises the following steps:
responding to a inching function starting instruction, and acquiring the current opening of a brake pedal;
before determining the target driving torque according to the current opening and the corresponding relation between the preset opening and the driving torque, the inching control device of the electric loading vehicle further comprises:
acquiring the current speed of the electric loading vehicle;
and determining that the target driving torque is specifically:
determining a target driving torque according to the current opening, the current vehicle speed, the preset opening and the corresponding relation between the vehicle speed and the driving torque, so that the current vehicle speed of the motor can be matched with the rated power of the motor;
the preset jog enabling conditions include: the load of the electric loading vehicle is greater than a preset threshold.
8. A jog control device for an electric loading vehicle, which is applied to an electric loading vehicle, characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the inching control method of an electric loading vehicle according to any one of claims 1 to 6 when executing the computer program.
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| CN111483329B (en) * | 2020-04-29 | 2023-01-31 | 重庆工商大学 | Impact suppression method, device and system for electric loader |
| CN115163821A (en) * | 2022-06-29 | 2022-10-11 | 江苏汇智高端工程机械创新中心有限公司 | Micro-motion control method and system for mechanical gearbox of port |
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