CN111169284A - Speed-limiting alarm control method and system for diesel fork lift truck - Google Patents

Speed-limiting alarm control method and system for diesel fork lift truck Download PDF

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Publication number
CN111169284A
CN111169284A CN202010116416.5A CN202010116416A CN111169284A CN 111169284 A CN111169284 A CN 111169284A CN 202010116416 A CN202010116416 A CN 202010116416A CN 111169284 A CN111169284 A CN 111169284A
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speed
preset
engine
actual
acquiring
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CN111169284B (en
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葛伟伟
游颖捷
尹力
余香琴
刘大庆
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Hangcha Group Co Ltd
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Hangcha Group Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K31/18—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters

Abstract

The invention discloses a speed-limiting alarm control method for a diesel fork lift truck, when the actual speed V of a truck body is far less than the preset speed V1, the truck body can normally run, to ensure the smoothness of the driving of the driver, when the actual speed V of the vehicle body is close to the preset speed V1, namely, when the actual speed V of the vehicle body is greater than the critical speed V2, the speed of the vehicle body is limited in advance, and the speed limiting operation is realized by reducing the maximum opening of the accelerator pedal corresponding to the engine speed, compared with the prior art that the vehicle is directly braked or decelerated after a certain condition is reached, the method has the advantages that large impact cannot be generated on the vehicle body, and the vehicle body cannot have impact of sudden fuel cut or speed drop, so that the driving experience can be improved, accidents can be avoided, and the accident rate can be reduced. The invention also discloses a speed-limiting alarm control system for the diesel fork lift truck.

Description

Speed-limiting alarm control method and system for diesel fork lift truck
Technical Field
The invention relates to the technical field of forklift speed limiting, in particular to a speed limiting alarm control method for a diesel fork lift truck.
Background
With the rapid development of the high-efficiency logistics carrying requirements of various industries, a large amount of forklifts enter the logistics carrying system. In order to provide sufficient reaction time for drivers and other personnel and reduce the occurrence rate of dangerous accidents, the speed of a working vehicle is required to be limited.
The purpose of speed limit is realized to some sensors that all need additionally to increase in current scheme, and sensor own cost is higher and break down easily, and the external condition such as influence function also exists after damaging of sensor. And the speed limit value can not be adjusted in a stepless way, the vehicle impact is large when the speed limit is carried out, great discomfort is brought to a driver, and accidents are easily caused by sudden flameout or sharp speed reduction under many conditions.
Therefore, how to solve the problems that the existing speed limiting scheme is high in cost and easily causes discomfort for a driver is a problem to be urgently solved by the technical staff in the field at present.
Disclosure of Invention
In view of the above, the invention aims to provide a speed-limiting alarm control method for a diesel fork lift truck, which has the advantages of flexible speed limitation, capability of improving driving experience, avoiding accidents and reducing the accident rate.
The invention also aims to provide a diesel fork lift truck for a speed limit alarm control system.
In order to achieve the above purpose, the invention provides the following technical scheme:
a speed limit alarm control method for a diesel fork lift truck comprises the following steps:
acquiring a preset speed V1 and acquiring an engine speed R1 corresponding to the preset speed V1;
acquiring an actual speed V of a vehicle body, and comparing the actual speed V with the preset speed V1;
if the actual speed V is greater than the preset speed V1, controlling to give an alarm;
if the actual speed V is less than a critical speed V2, controlling the maximum opening degree of an accelerator pedal to correspond to the maximum rotating speed Rmax of the engine, wherein the critical speed V2 is 85-95% of the preset speed V1;
and if the actual speed V is greater than the critical speed V2 and less than the preset speed V1, controlling the maximum opening degree of an accelerator pedal to correspond to the engine speed R1.
Preferably, the acquiring the actual speed V of the vehicle body includes acquiring: acquiring an output rotating speed R2 of the gearbox;
Figure BDA0002391627730000021
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
Preferably, the obtaining of the engine speed R1 corresponding to the preset speed V1 includes: acquiring a gearbox gear x, acquiring a gearbox transmission ratio Kx corresponding to the gearbox gear x, wherein the corresponding relation between the engine speed R1 and the preset speed V1 is as follows:
Figure BDA0002391627730000022
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
Preferably, if the time that the accelerator pedal is at the maximum opening is greater than the preset time T and the actual speed V is less than the preset speed V1, then Δ V is obtained as V1-V, then the maximum opening of the accelerator pedal corresponds to the engine speed R3 as R1+ Δ R, and the correspondence relationship between Δ V and Δ R is as follows:
Figure BDA0002391627730000023
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
Preferably, the critical speed V2 is equal to 90% of the preset speed V1.
Preferably, the device comprises a controller, an engine control unit, an alarm and an input unit which are respectively connected with the controller;
an input unit for acquiring a preset speed V1;
an engine control unit for controlling the rotation speed of the engine according to the instruction of the controller;
the controller is used for acquiring the engine speed R1 corresponding to the preset speed V1, acquiring the actual speed V of the vehicle body, and comparing the actual speed V with the preset speed V1;
if the actual speed V is greater than the preset speed V1, the controller controls an alarm to give an alarm;
if the actual speed V is less than a critical speed V2, the controller sends an instruction to the engine control unit to enable the maximum opening degree of an accelerator pedal to correspond to the maximum rotating speed Rmax of the engine, and the critical speed V2 is 85-95% of the preset speed V1;
if the actual speed V is greater than the critical speed V2 and less than the preset speed V1, the controller sends an instruction to the engine control unit to make the maximum opening degree of the accelerator pedal correspond to the engine speed R1.
Preferably, the transmission control unit is further included, the controller is connected to the transmission control unit to obtain a transmission output rotation speed R2, and the corresponding relationship between the actual speed V and the transmission output rotation speed R2 is:
Figure BDA0002391627730000031
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
Preferably, the controller is further configured to obtain a gearbox gear x to obtain a gearbox transmission ratio Kx corresponding to the gearbox gear x, and the corresponding relationship between the engine speed R1 and the preset speed V1 is:
Figure BDA0002391627730000032
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
Preferably, the controller is further configured to obtain Δ V — V1-V when the accelerator pedal is at the maximum opening degree for more than a preset time T and the actual speed V is less than a preset speed V1, and issue a command to the engine control unit so that the maximum opening degree of the accelerator pedal corresponds to an engine speed R3 — R1+ Δ R, and the corresponding relationship between Δ V and Δ R is:
Figure BDA0002391627730000033
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
Preferably, the input unit is a display, and the display is configured to input a preset speed V1 and display data parameters, wherein the data parameters include the preset speed V1 and the actual speed V.
The invention provides a speed-limiting alarm control method for a diesel fork lift truck, when the actual speed V of a truck body is far less than the preset speed V1, the truck body can normally run to ensure the smoothness of driving of a driver, when the actual speed V of the truck body is close to the preset speed V1, namely when the actual speed V of the truck body is greater than the critical speed V2, the speed-limiting operation is carried out on the truck body in advance, and the speed-limiting operation is realized by reducing the maximum opening of an accelerator pedal corresponding to the engine speed, namely the maximum opening of the accelerator pedal corresponding to the engine speed R1 corresponding to the preset speed V1, compared with the mode of directly braking or decelerating the truck after the prior art reaches a certain condition, the invention realizes softer speed-limiting mode by reducing the maximum engine speed in advance, does not generate larger impact on the truck body, and the truck body does not have the impact of sudden oil cut or speed drop, therefore, strong discomfort can not be brought to the driver, the driving experience can be improved, accidents can be avoided, and the accident rate can be reduced.
The invention also provides a speed-limiting alarm control system for the diesel fork lift truck.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a specific embodiment of a speed limit alarm control method for a fork lift truck according to the present invention;
fig. 2 is a schematic diagram of a specific embodiment of the speed limit alarm control system for the diesel fork lift truck provided by the invention.
The system comprises a controller 1, an accelerator pedal 2, a gearbox 3, an engine control unit 4, an audible and visual alarm 5, a display 6, a fuse 7 and a storage battery 8.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a speed-limiting alarm control method for a diesel fork lift truck, which has the advantages of flexible speed limit, capability of improving the driving experience, avoiding accidents and reducing the accident rate.
The other core of the invention is to provide a diesel fork lift truck for a speed limit alarm control system.
Referring to fig. 1 to 2, fig. 1 is a flowchart illustrating a speed limit alarm control method for an internal combustion forklift according to an embodiment of the present invention; fig. 2 is a schematic diagram of a specific embodiment of the speed limit alarm control system for the diesel fork lift truck provided by the invention.
The invention provides a speed limit alarm control method for a diesel fork lift truck, which is characterized by comprising the following steps:
acquiring a preset speed V1 and acquiring an engine speed R1 corresponding to the preset speed V1;
acquiring an actual speed V of the vehicle body, and comparing the actual speed V with a preset speed V1;
if the actual speed V is greater than the preset speed V1, controlling to give an alarm;
if the actual speed V is less than a critical speed V2 of a preset speed V1, controlling the maximum opening degree of an accelerator pedal to correspond to the maximum rotating speed Rmax of the engine, wherein the critical speed V2 is 85-95% of the preset speed V1;
and if the actual speed V is greater than the critical speed V2 and less than the preset speed V1, controlling the maximum opening degree of the accelerator pedal to correspond to the engine speed R1.
The preset speed V1 is the maximum speed required to be limited, and the maximum speed required to be limited of the diesel fork lift truck can be input according to actual working conditions, namely, a driver can input the maximum speed V1 required to be limited of the diesel fork lift truck according to factors such as working environments and the like so as to adapt to different working environments. Correspondingly, the preset speed V1 corresponds to the engine speed R1, i.e. when the engine speed is R1, the speed of the diesel lift truck is V1, and it should be noted that the relationship between the vehicle speed of the diesel lift truck and the engine speed is also related to the gear of the gearbox, the gear ratio of the corresponding gear and the gear ratio of the drive axle.
The method comprises the steps of obtaining an actual speed V of a vehicle body, and comparing the actual speed V with a preset speed V1, namely, the method determines whether to limit the speed of the forklift truck or not by comparing the actual speed V with the preset speed V1, and if the actual speed V is larger than the preset speed V1, an alarm is given out to inform a driver and people around the vehicle of the fact that the speed of the vehicle is too high through the alarm.
If the actual speed V is less than a critical speed V2 of the preset speed V1, the maximum opening degree of the accelerator pedal corresponds to the maximum rotation speed Rmax of the engine, and the critical speed V2 is 85 to 95 percent of the preset speed V1; the maximum opening degree of the accelerator pedal is that the accelerator pedal is stepped on to the bottom, that is, when the difference between the actual speed V and the preset speed V1 is large, the accelerator pedal can normally control the rotation of the engine, so that the normal running of the diesel fork truck cannot be interfered, and the driving fluency of a driver is ensured.
If the actual speed V is greater than the critical speed V2 and less than the preset speed V1, it is indicated that the actual speed V of the vehicle body is about to reach the preset speed V1, at this time, the maximum opening of the accelerator pedal corresponds to the engine speed R1, that is, when the accelerator pedal is stepped on to the bottom, the engine speed is the speed R1 corresponding to the preset speed V1, that is, the control relationship between the accelerator pedal and the engine is changed from the original fixed control curve to a new control curve, so as to achieve the purpose of speed limitation, and prevent the actual speed V from exceeding the preset speed V1.
The speed-limiting alarm control method for the diesel fork truck can input the preset speed required to be set according to the actual working environment so as to meet different working condition requirements; acquiring an actual speed V, comparing the actual speed V with a preset speed V1, if the actual speed V is greater than the preset speed V1, giving an alarm to remind a driver and surrounding personnel, and if the actual speed V is less than a critical speed V2 of a preset speed V1, wherein the maximum opening degree of an accelerator pedal corresponds to the maximum rotating speed Rmax of an engine, wherein the critical speed V2 is 85-95% of the preset speed V1, namely when the difference between the actual speed V and the preset speed V1 is large, the accelerator pedal can normally control the running speed of a vehicle body, and the normal formation of the vehicle body is not interfered; if the actual speed V is greater than the critical speed V2 and less than the preset speed V1, the maximum opening of the accelerator pedal corresponds to the engine speed R1, that is, the maximum speed of the vehicle body is controlled by reducing the maximum speed of the engine, so as to achieve the purpose of limiting the speed and prevent the actual speed V from exceeding the preset speed V1.
Therefore, the speed limit alarm control method for the diesel fork truck provided by the invention has the advantages that when the actual speed V of the truck body is far less than the preset speed V1, the truck body can normally run, to ensure the smoothness of the driving of the driver, when the actual speed V of the vehicle body is close to the preset speed V1, namely, when the actual speed V of the vehicle body is greater than the critical speed V2, the speed of the vehicle body is limited in advance, and the speed-limiting operation is realized by reducing the maximum opening of the accelerator pedal corresponding to the rotating speed of the engine, namely the engine speed R1 corresponding to the preset speed V1 corresponding to the maximum opening degree of the accelerator pedal, compared with the mode of directly braking or decelerating the vehicle after a certain condition is reached in the prior art, the invention realizes a softer speed limiting mode by reducing the engine speed in advance, the vehicle body cannot be impacted greatly, and the vehicle body cannot be impacted by sudden oil cut or falling speed. Therefore, strong discomfort can not be brought to the driver, the driving experience can be improved, accidents can be avoided, and the accident rate can be reduced.
In addition to the above embodiments, considering the specific manner of obtaining the actual speed V of the vehicle body, it is preferable to convert the actual speed V of the vehicle body by obtaining the transmission output rotation speed R2, and specifically, the corresponding relationship between the actual speed V of the vehicle body and the transmission output rotation speed R2 is:
Figure BDA0002391627730000071
the driving axle transmission ratio K and the tire rolling radius r are attributes of the vehicle body and are known data.
Based on the above embodiments, the specific manner of obtaining the engine speed R1 through the preset speed V1 is preferably obtained by obtaining the gearbox gear x to obtain the gearbox transmission ratio Kx corresponding to the gearbox gear x, and the corresponding relationship between the preset speed V1 and the engine speed R1 is as follows:
Figure BDA0002391627730000072
wherein K is the drive axle transmission ratio, r is the rolling radius of the tire, and the data are known.
In addition to the above embodiments, if the time that the accelerator pedal is at the maximum opening is greater than the preset time T and the actual speed V is less than the preset speed V1, then Δ V is obtained as V1-V, and the maximum opening of the accelerator pedal corresponds to the maximum engine speed R1+ Δ R, and the corresponding relationship between Δ V and Δ R is:
Figure BDA0002391627730000073
in other words, in this embodiment, when considering that the vehicle body is in working conditions such as heavy load and climbing, the vehicle body driving is affected, so a vehicle speed compensation mechanism is provided, that is, the accelerator pedal is at the maximum opening for a long time, and the actual speed V of the vehicle body is less than the preset speed V1, the engine speed of the vehicle body is compensated, that is, the engine speed is increased according to the difference Δ V between the actual speed V of the vehicle body and the preset speed V1 and the transmission ratio Kx corresponding to the transmission gear x, when encountering conditions such as climbing and heavy load, the intelligent compensation speed can be realized, and the carrying efficiency is ensured. Specifically, the preset time T is 5 s.
In addition to the above embodiments, it is preferable that the critical speed V2 is 90% of the preset speed V1, that is, the critical speed V2 is 90% of the input preset speed V1, and V2 is 0.9 × V1, for example, when the input preset speed V1 is 50km/h, the critical speed V2 is 45km/h, and when the actual speed reaches 45km/h, the maximum opening degree of the accelerator pedal is corresponding to the engine speed R1, so as to achieve the speed limit.
In addition, in addition to the speed-limiting alarm control method for the diesel fork lift truck, the invention also provides a speed-limiting alarm control system for the diesel fork lift truck, which comprises a controller, and an engine control unit, an alarm and an input unit which are respectively connected with the controller;
an input unit for acquiring a preset speed V1;
an engine control unit for controlling the rotation speed of the engine according to the instruction of the controller;
the controller is used for acquiring the engine speed R1 corresponding to the preset speed V1, acquiring the actual speed V of the vehicle body, and comparing the actual speed V with the preset speed V1;
if the actual speed V is greater than the preset speed V1, controlling an alarm to give an alarm;
if the actual speed V is less than a critical speed V2 of a preset speed V1, an instruction is sent to an engine control unit, the maximum opening degree of an accelerator pedal corresponds to the maximum rotating speed Rmax of the engine, and the critical speed V2 is 85-95% of the preset speed V1;
if the actual speed V is greater than the critical speed V2 and less than the preset speed V1, the controller issues a command to the engine control unit to make the maximum opening of the accelerator pedal correspond to the engine speed R1.
On the basis of the above embodiment, the transmission control unit is further included, the controller is connected to the transmission control unit to obtain the transmission output rotation speed R2, and the corresponding relationship between the actual speed V and the transmission output rotation speed R2 is as follows:
Figure BDA0002391627730000081
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
On the basis of the above embodiment, the controller is further configured to obtain a gearbox gear x to obtain a gearbox gear ratio Kx corresponding to the gearbox gear x, and the corresponding relationship between the engine speed R1 and the preset speed V1 is as follows:
Figure BDA0002391627730000082
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
In addition to the above embodiments, the controller is further configured to obtain Δ V ═ V1-V when the accelerator pedal is at the maximum opening degree for more than the preset time T and the actual speed V is less than the preset speed V1, and the controller issues a command to the engine control unit so that the maximum opening degree of the accelerator pedal corresponds to the engine speed R3 ═ R1+ Δ R, and the corresponding relationship between Δ V and Δ R is as follows:
Figure BDA0002391627730000083
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
On the basis of the above embodiment, the input unit is a display for inputting the preset speed V1 and displaying data parameters, including the preset speed V1 and the actual speed V. In addition, the engine control unit, the gearbox control unit, the controller and the alarm are connected to a storage battery on the diesel fork truck through fuses. Specifically, the alarm is an audible and visual alarm, and in addition, the audible and visual alarm can be connected with the display to indicate alarm on the display.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The speed-limiting alarm control method and system for the internal combustion forklift are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

1. A speed limit alarm control method for a diesel fork lift truck is characterized by comprising the following steps:
acquiring a preset speed V1 and acquiring an engine speed R1 corresponding to the preset speed V1;
acquiring an actual speed V of a vehicle body, and comparing the actual speed V with the preset speed V1;
if the actual speed V is greater than the preset speed V1, controlling to give an alarm;
if the actual speed V is less than a critical speed V2, controlling the maximum opening degree of an accelerator pedal to correspond to the maximum rotating speed Rmax of the engine, wherein the critical speed V2 is 85-95% of the preset speed V1;
and if the actual speed V is greater than the critical speed V2 and less than the preset speed V1, controlling the maximum opening degree of an accelerator pedal to correspond to the engine speed R1.
2. The speed limit alarm control method for an internal combustion forklift according to claim 1, wherein the acquiring of the actual speed V of the forklift body includes acquiring: acquiring an output rotating speed R2 of the gearbox;
Figure FDA0002391627720000011
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
3. The speed limit alarm control method for a diesel fork lift truck as set forth in claim 2, wherein said obtaining the engine speed R1 corresponding to said preset speed V1 comprises: acquiring a gearbox gear x, acquiring a gearbox transmission ratio Kx corresponding to the gearbox gear x, wherein the corresponding relation between the engine speed R1 and the preset speed V1 is as follows:
Figure FDA0002391627720000012
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
4. The speed limit alarm control method for the diesel fork lift truck as set forth in claim 3, wherein if the time of the accelerator pedal being in the maximum opening degree is greater than the preset time T and the actual speed V is less than the preset speed V1, then obtaining Δ V-V1-V, then the maximum opening degree of the accelerator pedal corresponds to the engine speed R3-R1 + Δ R, and the corresponding relation between Δ V and Δ R is as follows:
Figure FDA0002391627720000013
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
5. The speed limit alarm control method for a forklift truck according to any one of claims 1 to 4, characterized in that the critical speed V2 is equal to 90% of the preset speed V1.
6. A speed limit alarm control system for a diesel fork lift truck is characterized by comprising a controller, an engine control unit, an alarm and an input unit, wherein the engine control unit, the alarm and the input unit are respectively connected with the controller;
an input unit for acquiring a preset speed V1;
an engine control unit for controlling the rotation speed of the engine according to the instruction of the controller;
the controller is used for acquiring the engine speed R1 corresponding to the preset speed V1, acquiring the actual speed V of the vehicle body, and comparing the actual speed V with the preset speed V1;
if the actual speed V is greater than the preset speed V1, the controller controls an alarm to give an alarm;
if the actual speed V is less than a critical speed V2, the controller sends an instruction to the engine control unit to enable the maximum opening degree of an accelerator pedal to correspond to the maximum rotating speed Rmax of the engine, and the critical speed V2 is 85-95% of the preset speed V1;
if the actual speed V is greater than the critical speed V2 and less than the preset speed V1, the controller sends an instruction to the engine control unit to make the maximum opening degree of the accelerator pedal correspond to the engine speed R1.
7. The speed limit alarm control system for the diesel fork lift truck of claim 6, further comprising a gearbox control unit, wherein the controller is connected to the gearbox control unit to obtain a gearbox output rotation speed R2, and the corresponding relation between the actual speed V and the gearbox output rotation speed R2 is as follows:
Figure FDA0002391627720000021
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
8. The speed limit alarm control system for the diesel fork lift truck of claim 7, wherein the controller is further configured to obtain a gearbox gear x to obtain a gearbox transmission ratio Kx corresponding to the gearbox gear x, and the corresponding relationship between the engine speed R1 and the preset speed V1 is as follows:
Figure FDA0002391627720000022
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
9. The speed limit alarm control system for the diesel fork lift truck as set forth in claim 8, wherein the controller is further configured to obtain Δ V — V1-V when the accelerator pedal is at the maximum opening degree for more than a preset time T and the actual speed V is less than a preset speed V1, and send a command to the engine control unit to make the maximum opening degree of the accelerator pedal correspond to the engine speed R3 — R1+ Δ R, and the correspondence relationship between Δ V and Δ R is as follows:
Figure FDA0002391627720000031
wherein K is the drive axle transmission ratio and r is the tire rolling radius.
10. The speed limit alarm control system for the diesel fork lift truck as set forth in any one of claims 6 to 9, wherein the input unit is a display for inputting a preset speed V1 and displaying data parameters including the preset speed V1 and the actual speed V.
CN202010116416.5A 2020-02-25 2020-02-25 Speed-limiting alarm control method and system for diesel fork lift truck Active CN111169284B (en)

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