CN115973153A - Control method and device for electric balancing weight forklift and computer readable storage medium - Google Patents
Control method and device for electric balancing weight forklift and computer readable storage medium Download PDFInfo
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Abstract
The invention discloses a control method, equipment and a computer readable storage medium of an electric counterweight forklift, wherein the method comprises the following steps: after the controller receives the current speed and the instruction speed of the electric balancing weight forklift, taking the difference value of the current speed and the instruction speed as an error speed, and calculating according to the error speed to obtain the current feedback control quantity; inquiring in a preset accelerator speed data table according to the command speed through the controller to obtain the current feedforward control quantity; taking the sum of the feedback control quantity and the feedforward control quantity as a current actual control quantity; when the electric balance weight fork truck reaches the target position, the brake signal of the maximum control quantity is output, and when the electric balance weight fork truck does not reach the target position, the accelerator signal of the actual control quantity is output. The control scheme of the electric balance weight forklift with high precision and low time delay is realized, and the multi-stage accelerator brake control mechanism of the electric balance weight forklift is optimized.
Description
Technical Field
The invention relates to the technical field of electric forklifts, in particular to a control method and control equipment of an electric balancing weight forklift and a computer readable storage medium.
Background
In the prior art, for an electric forklift with an accelerator and a brake system, when the target speed of a control point of the electric forklift is known, the existing control methods are mainly not classified into two types: firstly, obtaining the control quantity of an accelerator and a brake by using a machine learning method; secondly, a PID (Proportional, integral, and Derivative) controller is used to control the accelerator and brake.
However, when the two schemes are applied to the control field of an electric counter-lift truck (ACF), there are obvious defects: the former is a machine learning-based method, relies on a large amount of accurate known data, and for an electric balancing weight forklift with a large response delay, a set of applicable rules is difficult to find, and the requirements of all control scenes cannot be met; the latter is not able to track the commanded speed in time for an electric counterweighted forklift with a large delay in response, thereby resulting in poor accuracy of curve tracking.
Therefore, how to provide a control scheme with higher precision for the current electric counterweighted forklift becomes a technical problem to be solved urgently at present.
Disclosure of Invention
In order to solve the technical defects in the prior art, the invention provides a control method of an electric counterweight fork truck, which comprises the following steps:
after the controller receives the current speed and the instruction speed of the electric balancing weight forklift, taking the difference value of the current speed and the instruction speed as an error speed, and calculating to obtain the current feedback control quantity according to the error speed;
inquiring in a preset accelerator speed data table according to the instruction speed through the controller to obtain the current feedforward control quantity;
taking the sum of the feedback control quantity and the feedforward control quantity as a current actual control quantity;
when the electric balance weight fork truck reaches the target position, the brake signal of the maximum control quantity is output, and when the electric balance weight fork truck does not reach the target position, the accelerator signal of the actual control quantity is output.
Optionally, the obtaining, by the controller, a current feedforward control amount by querying in a preset accelerator speed data table according to the command speed includes:
sending a plurality of groups of throttle signals of control quantity to the electric balancing weight forklift;
and after the electric balancing weight forklift is stable in speed, acquiring a plurality of groups of speed values corresponding to the throttle signals of the plurality of groups of control quantities, and manufacturing a throttle speed data table according to the plurality of groups of control quantities and the plurality of groups of speed values.
Optionally, the outputting the throttle signal of the actual control amount when the electric counter weight forklift does not reach the target position, previously comprises:
presetting a starting mode of the electric counterweighted forklift;
and presetting a speed threshold value in the starting mode.
Optionally, the outputting the throttle signal of the actual control amount when the electric counter weight forklift does not reach the target position, previously comprises:
monitoring, by the controller, a control point of the electric counterbalanced lift truck;
and acquiring the feedback speed and the target speed of the electric counter weight forklift at the control point.
Optionally, the method further comprises:
when the electric counterweighted forklift does not reach the target position, acquiring the magnitude relation between the feedback speed and the target speed and the speed threshold respectively;
and when the feedback speed is smaller than the speed threshold value and the target speed is larger than the speed threshold value, determining that the electric counterweighted forklift is in the starting mode.
Optionally, the method further comprises:
presetting a first error threshold value and a second error threshold value of the electric counterweighted forklift in the starting mode, wherein the first error threshold value is larger than the second error threshold value;
and taking the difference value of the feedback speed and the target speed as a speed error, and obtaining the magnitude relation between the speed error and the first error threshold value and/or the second error threshold value.
Optionally, the method further comprises:
presetting a first proportion, a second proportion and a third proportion from large to small;
when the speed error is larger than the first error threshold value, the throttle signal of the throttle maximum control quantity of the first proportion is output, when the speed error is larger than the second error threshold value and smaller than or equal to the first error threshold value, the throttle signal of the throttle maximum control quantity of the second proportion is output, and when the speed error is smaller than or equal to the second error threshold value, the throttle signal of the throttle maximum control quantity of the third proportion is output.
Optionally, the outputting the throttle signal of the actual control amount when the electric counterbalanced lift truck does not reach the target position includes:
when the feedback speed is greater than or equal to the speed threshold value and the target speed is greater than the speed threshold value, determining that the electric counterweighted forklift is in a normal mode after starting;
and in the normal mode, if the electric counter weight forklift does not reach the target position, outputting an accelerator signal of the actual control quantity.
The present invention also proposes a control device for an electric counterbalanced lift truck, comprising a memory, a processor and a computer program stored on said memory and executable on said processor, said computer program, when executed by said processor, implementing the steps of the method for controlling an electric counterbalanced lift truck as defined in any of the above.
The present invention also provides a computer-readable storage medium having stored thereon a control program for an electric counterbalanced lift truck, the control program for an electric counterbalanced lift truck, when executed by a processor, implementing the steps of the method for controlling an electric counterbalanced lift truck as set forth in any one of the above.
According to the control method, the control device and the computer readable storage medium of the electric counter weight forklift, after the controller receives the current speed and the instruction speed of the electric counter weight forklift, the difference value of the current speed and the instruction speed is used as an error speed, and the current feedback control quantity is calculated according to the error speed; inquiring in a preset accelerator speed data table according to the instruction speed through the controller to obtain the current feedforward control quantity; taking the sum of the feedback control quantity and the feedforward control quantity as a current actual control quantity; when the electric balance weight fork truck reaches the target position, the brake signal of the maximum control quantity is output, and when the electric balance weight fork truck does not reach the target position, the accelerator signal of the actual control quantity is output. The control scheme of the electric balance weight forklift is high in precision and low in time delay, the control mechanism of the accelerator and the brake of the electric balance weight forklift in multiple stages is optimized, and the productivity of the electric balance weight forklift is improved.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a first flowchart of a control method of the electric counterbalanced forklift of the present invention;
fig. 2 is a second flowchart of a control method of the electric counterweight forklift of the invention;
fig. 3 is a third flowchart of a control method of the electric counterweight forklift of the present invention;
fig. 4 is a fourth flowchart of the control method of the electric counterweight forklift of the invention;
fig. 5 is a fifth flowchart of a control method of the electric counterweight forklift of the invention;
fig. 6 is a sixth flowchart of a control method of the electric counterweight forklift of the invention;
fig. 7 is a seventh flowchart of the control method of the electric counterweight forklift of the invention;
fig. 8 is an eighth flowchart of the control method of the electric counterweight forklift of the invention;
fig. 9 is a control schematic diagram of a control method of the electric counterweight forklift of the invention;
fig. 10 is a schematic view showing a relationship between accelerator speed in the control method of the electric counterweight forklift according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in itself. Thus, "module", "component" or "unit" may be used mixedly.
Example one
Fig. 1 is a flowchart of a first embodiment of a control method of an electric counterweight forklift according to the present invention. A method of controlling an electric counterbalanced lift truck, the method comprising:
s1, after a controller receives the current speed and the command speed of the electric counterweight forklift, taking the difference value of the current speed and the command speed as an error speed, and calculating to obtain the current feedback control quantity according to the error speed;
s2, inquiring a preset accelerator speed data table according to the instruction speed through the controller to obtain a current feedforward control quantity;
s3, taking the sum of the feedback control quantity and the feedforward control quantity as the current actual control quantity;
and S4, outputting a brake signal of the maximum control quantity when the electric balance weight forklift reaches the target position, and outputting an accelerator signal of the actual control quantity when the electric balance weight forklift does not reach the target position.
Referring to fig. 9, wherein Vel (i) is the current command speed, PID Controller is the Controller, velocity Error is the Error speed, feedback is the feedback control amount, car Model is the vehicle mode, position read is the determination of whether the electric counterlift truck reaches the target Position, brake is the Brake, gas is the accelerator.
In this embodiment, if the current speed V is reached, and after the controller receives an instruction to reach the speed Vel, the speed error (or referred to as error speed) Ve = V-Vel is calculated; ve is subjected to PID controller to obtain feedback control quantity uf; according to a preset accelerator speed data table, acquiring a feedforward control quantity uff from Vel; calculating to obtain a final control quantity u = uf + uff; at the moment, if the vehicle reaches the target position, a braking signal is output, the brake pedal is controlled to be stepped on to the bottom by outputting the braking signal with the maximum control quantity, and the vehicle is controlled to read quickly and stop; otherwise, the final control quantity u of the throttle signal is output.
Specifically, in this embodiment, first, after the controller receives the current speed and the command speed of the electric counterbalanced forklift, the difference between the current speed and the command speed is used as an error speed, and a current feedback control amount is calculated according to the error speed; then, inquiring in a preset accelerator speed data table according to the instruction speed through the controller to obtain the current feedforward control quantity; then taking the sum of the feedback control quantity and the feedforward control quantity as the current actual control quantity; and finally, outputting a brake signal of the maximum control quantity when the electric balance weight fork truck reaches the target position, and outputting an accelerator signal of the actual control quantity when the electric balance weight fork truck does not reach the target position. The input amount of the present embodiment is a command speed of a driving wheel of the electric counterbalancing truck and an actual speed of the driving wheel, and the output amount is a current control amount of an accelerator or a brake. It can be seen that in the embodiment, the intelligent algorithm is used for controlling the accelerator and the brake pedal of the electric balancing weight forklift, so that the response and the precision of the tracking command speed of the vehicle are improved. Furthermore, by the scheme, the longitudinal accuracy of the electric counter weight forklift in place is within-4 cm. The longitudinal in-place accuracy refers to the distance between a forklift control point and a final target position in the advancing direction of the forklift after the upper-layer dispatching software gives the final target position.
Referring to fig. 2, in this embodiment, the obtaining of the current feedforward control quantity by the controller according to the command speed by looking up in a preset accelerator speed data table includes:
s01, sending a plurality of groups of throttle signals of control quantity to the electric balancing weight forklift;
and S02, acquiring multiple groups of speed values corresponding to the throttle signals of the multiple groups of control quantities after the electric counter weight forklift is stable in speed, and manufacturing the throttle speed data table according to the multiple groups of control quantities and the multiple groups of speed values.
Referring to fig. 10, the abscissa is a voltage value (in mv) of a driving motor of the electric counterlift truck, and the ordinate is a running speed (in m/s) of the electric counterlift truck. In the embodiment, a plurality of fixed sets of throttle control values (1-100) are sent, and after the speed of the electric balancing weight forklift is stabilized, the speed value of the electric balancing weight forklift is obtained. Therefore, the speed value of the electric counter weight forklift and the accelerator control amount are in one-to-one correspondence, and the accelerator speed data table of the embodiment is manufactured according to the speed value and the accelerator control amount.
Referring to fig. 3, in the present embodiment, the outputting the throttle signal of the actual control amount when the electric counter weight forklift does not reach the target position includes:
s03, presetting a starting mode of the electric counterweight forklift;
and S04, presetting a speed threshold value in the starting mode.
Referring to fig. 4, in the present embodiment, the outputting the throttle signal of the actual control amount when the electric counter weight forklift does not reach the target position includes:
s05, monitoring a control point of the electric balancing weight forklift through the controller;
and S06, acquiring the feedback speed and the target speed of the electric counterweight forklift at the control point.
Referring to fig. 5, in the present embodiment, the method further includes:
s51, when the electric balance weight forklift does not reach the target position, acquiring the magnitude relation between the feedback speed and the target speed and the speed threshold value respectively;
and S52, when the feedback speed is smaller than the speed threshold value and the target speed is larger than the speed threshold value, determining that the electric counterweighted forklift is in the starting mode.
Referring to fig. 6, in the present embodiment, the method further includes:
s53, presetting a first error threshold and a second error threshold of the electric counterweighted forklift in the starting mode, wherein the first error threshold is larger than the second error threshold;
and S54, taking the difference value between the feedback speed and the target speed as a speed error, and obtaining the magnitude relation between the speed error and the first error threshold value and/or the second error threshold value.
Referring to fig. 7, in the present embodiment, the method further includes:
s55, presetting a first proportion, a second proportion and a third proportion from large to small;
and S56, when the speed error is larger than the first error threshold value, outputting the throttle signal of the throttle with the maximum control quantity in the first proportion, when the speed error is larger than the second error threshold value and smaller than or equal to the first error threshold value, outputting the throttle signal of the throttle with the maximum control quantity in the second proportion, and when the speed error is smaller than or equal to the second error threshold value, outputting the throttle signal of the throttle with the maximum control quantity in the third proportion.
In the present embodiment, feedback is used as the current feedback speed of the vehicle, reference is used as the current target speed of the vehicle, and e is used as the speed error. The embodiment adopts a mode of accelerating in advance to optimize the problem of large starting delay of the electric balance weight forklift, and the specific strategy is as follows, when the speed feedback of the current forklift control point is less than 0.05m/s and the reference is greater than 0.05m/s, the electric balance weight forklift enters a starting mode, wherein e = reference-feedback. In the initial stage of the starting mode, the purpose of quick starting is achieved by increasing the accelerator control amount. Wherein:
when e >0.2, output throttle gas =100;
when e >0.1, output throttle gas =100 × 0.9;
when e <0.1, the output throttle gas =100 × 0.8.
Referring to fig. 8, in the present embodiment, the outputting the throttle signal of the actual control amount when the electric counter weight forklift does not reach the target position includes:
s41, when the feedback speed is larger than or equal to the speed threshold value and the target speed is larger than the speed threshold value, determining that the electric counterweighted forklift is in a normal mode after starting;
and S42, in the normal mode, if the electric balance weight forklift does not reach the target position, outputting an accelerator signal of the actual control quantity.
In the present embodiment, in the traveling phase after the start mode, the normal control is performed according to the steps in the algorithm flow of the above embodiment.
It can be seen that in the present embodiment, the control method of the electric counterbalanced lift truck is different from that of a general automatic lift truck, the ACF uses the accelerator and the brake to indirectly control the vehicle speed, and the general automatic lift truck controls the rotation speed of the motor to directly control the vehicle speed. Therefore, the embodiment predicts the accelerator advance at the starting stage aiming at the problem of overlarge static response time of the ACF, thereby improving the speed tracking precision of the forklift at the starting stage. Furthermore, a speed feedforward and speed feedback control mode is introduced, and an accelerator-speed relation table is calibrated, so that an execution speed curve of the electric balance weight forklift fits a command speed curve better, the speed control precision of the electric balance weight forklift is further improved, and meanwhile, the longitudinal in-place error of the electric balance weight forklift is kept within a range of +/-4 cm.
The method has the advantages that after the controller receives the current speed and the command speed of the electric counterweight forklift, the difference value of the current speed and the command speed is used as an error speed, and the current feedback control quantity is calculated according to the error speed; inquiring in a preset accelerator speed data table according to the instruction speed through the controller to obtain the current feedforward control quantity; taking the sum of the feedback control quantity and the feedforward control quantity as a current actual control quantity; when the electric balance weight fork truck reaches the target position, the brake signal of the maximum control quantity is output, and when the electric balance weight fork truck does not reach the target position, the accelerator signal of the actual control quantity is output. The control scheme of the electric balance weight forklift is high in precision and low in time delay, the control mechanism of the accelerator and the brake of the electric balance weight forklift in multiple stages is optimized, and the productivity of the electric balance weight forklift is improved.
Example nine
Based on the above embodiments, the present invention also provides a control device for an electric counterbalanced forklift, the device comprising a memory, a processor and a computer program stored on the memory and operable on the processor, wherein the computer program, when executed by the processor, implements the steps of the control method for an electric counterbalanced forklift as described in any one of the above.
It should be noted that the device embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are correspondingly applicable in the device embodiment, which is not described herein again.
Example ten
Based on the above embodiment, the present invention also provides a computer-readable storage medium having a control program for an electric-counterweight forklift stored thereon, the control program for the electric-counterweight forklift implementing the steps of the control method for the electric-counterweight forklift described in any one of the above when executed by a processor.
It should be noted that the media embodiment and the method embodiment belong to the same concept, and specific implementation processes thereof are detailed in the method embodiment, and technical features in the method embodiment are applicable to the media embodiment, which is not described herein again.
It should be noted that, in this document, 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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method of controlling an electric counterbalanced lift truck, the method comprising:
after the controller receives the current speed and the instruction speed of the electric balancing weight forklift, taking the difference value of the current speed and the instruction speed as an error speed, and calculating to obtain the current feedback control quantity according to the error speed;
inquiring in a preset accelerator speed data table according to the instruction speed through the controller to obtain the current feedforward control quantity;
taking the sum of the feedback control quantity and the feedforward control quantity as a current actual control quantity;
when the electric balance weight fork truck reaches the target position, the brake signal of the maximum control quantity is output, and when the electric balance weight fork truck does not reach the target position, the accelerator signal of the actual control quantity is output.
2. The method of claim 1, wherein the step of obtaining the current feedforward control amount by looking up the controller in a preset accelerator speed data table according to the command speed comprises:
sending a plurality of groups of throttle signals of control quantity to the electric balancing weight forklift;
and after the electric counter weight forklift is stable in speed, acquiring a plurality of groups of speed values corresponding to the throttle signals of the plurality of groups of control quantities, and manufacturing the throttle speed data table according to the plurality of groups of control quantities and the plurality of groups of speed values.
3. The method for controlling a motor-driven counterweight forklift according to claim 2, wherein said outputting the throttle signal of the actual control amount when the motor-driven counterweight forklift does not reach the target position, previously comprises:
presetting a starting mode of the electric balancing weight forklift;
and presetting a speed threshold value in the starting mode.
4. The method according to claim 3, wherein the outputting the throttle signal of the actual control amount when the electric counterbalanced lift truck has not reached the target position, comprises:
monitoring, by the controller, a control point of the electric counterbalanced lift truck;
and acquiring the feedback speed and the target speed of the electric counter weight forklift at the control point.
5. The method of controlling a motorized counterweighted lift truck according to claim 4, further comprising:
when the electric counterweighted forklift does not reach the target position, acquiring the magnitude relation between the feedback speed and the target speed and the speed threshold respectively;
and when the feedback speed is smaller than the speed threshold value and the target speed is larger than the speed threshold value, determining that the electric balancing weight forklift is in the starting mode.
6. The method of controlling a motor-driven counterbalanced forklift according to claim 5, further comprising:
presetting a first error threshold and a second error threshold of the electric counterweighted forklift in the starting mode, wherein the first error threshold is larger than the second error threshold;
and taking the difference value between the feedback speed and the target speed as a speed error, and obtaining the magnitude relation between the speed error and the first error threshold value and/or the second error threshold value.
7. The method of controlling a motor-driven counterbalanced forklift according to claim 6, further comprising:
presetting a first proportion, a second proportion and a third proportion from large to small;
when the speed error is larger than the first error threshold value, the throttle signal of the throttle maximum control quantity of the first proportion is output, when the speed error is larger than the second error threshold value and is smaller than or equal to the first error threshold value, the throttle signal of the throttle maximum control quantity of the second proportion is output, and when the speed error is smaller than or equal to the second error threshold value, the throttle signal of the throttle maximum control quantity of the third proportion is output.
8. The method for controlling a motor-driven counterweight forklift according to claim 7, wherein outputting the throttle signal of the actual control amount when the motor-driven counterweight forklift does not reach the target position includes:
when the feedback speed is greater than or equal to the speed threshold value and the target speed is greater than the speed threshold value, determining that the electric counterweighted forklift is in a normal mode after starting;
and in the normal mode, if the electric counter weight forklift does not reach the target position, outputting an accelerator signal of the actual control quantity.
9. A control apparatus for an electric counterbalanced lift truck, the apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program when executed by the processor implementing the steps of the method of controlling an electric counterbalanced lift truck as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a control program for an electric-counterweighted forklift, which when executed by a processor, implements the steps of the method for controlling an electric-counterweighted forklift according to any one of claims 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211674478.3A CN115973153A (en) | 2022-12-26 | 2022-12-26 | Control method and device for electric balancing weight forklift and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211674478.3A CN115973153A (en) | 2022-12-26 | 2022-12-26 | Control method and device for electric balancing weight forklift and computer readable storage medium |
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| CN115973153A true CN115973153A (en) | 2023-04-18 |
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