CN205275145U - Electric fork -lift fork plays to rise controller based on FPGA - Google Patents

Abstract

The utility model discloses an electric fork -lift fork plays to rise controller based on FPGA, controller pass through the detecting system real -time supervision fork and play to rise control signal, and the control fork goes up and down plays to rise the temperature of motor, the weight of the load that the fork is taken, the height on the relative ground of fork and the lifting speed of fork, establish random access memory (RAM) in that FPGA is inside, through address lookup, the motor temperature, cargo weight, fork height and the fork lifting speed that detect FPGA preserve among the random access memory in real time, the controller includes microprocessor, motor driver module, DSP mould, a plurality of sensor, AD converter to and the display module etc, the utility model discloses the controller of mentioning is with low costs, and response speed is fast, and the integrated level is high, can conveniently improve, upgrade and increase new function.

Description

A kind of electri forklift pallet fork lift control device based on FPGA

Technical field

This utility model relates to a kind of electri forklift pallet fork lift control device technical field based on FPGA, belongs to engineering truck electronic technology field.

Background technology

In recent years, the energy and environmental problem have become the focus of attention in the whole world, and energy saving and environment friendly vehicle is increasingly subject to the favor of people. Logistics carry industry, due to electri forklift have high-performance, the high and low noise of energy conversion efficiency, without advantages such as discharges, increasing electri forklift is applied to the light industry such as warehouse, food, weaving. The market share amount of electri forklift is more than 50% abroad at present, and domestic electri forklift market share amount, only about 15%, has wide market prospect.

The controller for lifting of existing electri forklift is mainly through motor, hydraulic pump, and oil cylinder controls forklift door frame and pallet fork landing. But in full electric forklift, generally adopt chain or electric ball screw to replace elevating ram and dump ram, control door frame and pallet fork motion. Owing to permagnetic synchronous motor has response soon, efficiency is high, and low-speed performance is good, and permagnetic synchronous motor generally selected by the motor controlling chain or ball-screw motion in electri forklift. Electri forklift is generally powered by the lead battery of 80V, and therefore permagnetic synchronous motor is operated in the environment of low-voltage and high-current, is very easy to produce torque ripple and current fluctuation, works long hours and can increase the fatigue strength of driver. Therefore high performance lift control device needs to ensure the operation that electri forklift is safe and reliable, can improve work efficiency and the driving comfort of fork truck simultaneously.

Summary of the invention

The purpose of this utility model is in that to design a kind of high performance electri forklift lift control device for the demand, and this controller can control the permagnetic synchronous motor hoisted for electri forklift, and can provide protection against according to the real work situation of fork truck.

This utility model realizes by the following technical solutions.

A kind of electri forklift pallet fork lift control device based on FPGA, it is characterised in that: described controller includes input module, with FPGA micro controller module, power module, DSP module, energy supply control module and the motor drive module being core. described input module is controlled the pedal signal module of pallet fork lifting by detecting, motor temperature detection module, pallet fork band loading capacity, fork height, pallet fork lifting velocity detection module forms, the pedal of described control pallet fork lifting selects electronic type pedal, the voltage signal of output is connected by 8 bits serial A/D transducer TLC549 and FPGA, described motor temperature sensor adopts critesistor, it is connected by 8 bits serial A/D transducer TLC549 and FPGA, described pallet fork band loading capacity sensor adopts XJC-Y04 LOAD CELLS, it is connected by 10 bits serial A/D transducer TLC1543 and FPGA, described fork height sensor adopts ultrasonic range finder, it is connected by 10 bits serial A/D transducer TLC1543 and FPGA, described pallet fork lifting velocity sensor adopts MPU6050, it is connected by 10 bits serial A/D transducer TLC1543 and FPGA, described FPGA microcontroller is the fpga chip of altera corp's CycloneII series EP2C5Q208C8 model, described power module is DC/DC transducer, the DC source of the 80V on fork truck can be converted to the 12V power supply of light fixture work on applicable FPGA and the DSP 5V power supply worked and applicable fork truck, described energy supply control module is to be exported two paths of signals by FPGA to control relay switch, when electri forklift is when breaking down, relay switch will be opened, for controller power-off, play a protective role.

The pulse-width signal that this utility model electri forklift lifting motor is produced by DSP28335 is controlled by drive circuit, embedded vector control method in DSP. The input signal of DSP is to be read the pedal signal value of digital quantity in FPGA by external expansion interface.

Advantage of the present utility model and good effect are as described below.

(1) message transmission rate is high, and data processing speed is fast. FPGA has the advantages that modular concurrent runs, and each data acquisition module can run simultaneously, accelerates the speed of data acquisition.

(2) motor fast response time, torque ripple is little, and electri forklift work is more steady. Controller described in the utility model contains DSP module, devises the vector control method controlled for motor in DSP. Utilizing the high-speed digital video camera feature of DSP and the high-speed signal acquisition module of FPGA, make the response speed of lifting motor faster, more steadily, the work efficiency of electri forklift is higher, improves the work comfort degree of driver simultaneously.

(3) abundant I/O interface, it is simple to Function Extension. FPGA has abundant I/O port, user can according to oneself need customization I/O port function, it is easy to mount different I/O peripheral, in order to the function of extending controller.

(4) security performance is high. Controller described in the utility model has independent safety control module, when controller detects that the temperature of motor, curtage etc. occur extremely, energy supply control module can close rapidly power supply, and triggering brake hard or the pallet fork stopping of fork truck, it is prevented that pallet fork falls to causing that cargo damage even fork truck overturns rapidly.

(5) cost is low. Real work situation according to electri forklift, different input signal demands uses the converter of different accuracy, makes the cost control of controller to minimum when meeting electri forklift real work requirement. Due to the operating frequency of different converter, transformation process difference, the AD conversion needing design different inside FPGA controls module, and different AD conversion module operates in the operating frequency of corresponding A D conversion, this has given full play to the advantage of FPGA, utilizes a FPGA microcontroller can control many moneys converter and works alone simultaneously.

Accompanying drawing explanation

Below in conjunction with the drawings and specific embodiments, this utility model is described in further detail.

Fig. 1 is the overall structure block diagram of electric forklift controller of the present utility model.

Fig. 2 is the flow chart of this utility model electri forklift lifting motor controller work.

Fig. 3 speed selects the specific implementation process flow chart of module.

Fig. 4 is the control module of FPGA internal control A/D converter TLC549 work.

Fig. 5 is that FPGA internal electric source controls module.

Fig. 6 is the control module of FPGA internal control A/D converter TLC1543 work.

Fig. 7 is that the output of FPGA internal speed selects module.

Fig. 8 is FPGA internal control display display module.

Detailed description of the invention

Below in conjunction with drawings and Examples, the technical scheme in this utility model electri forklift lift control device is carried out clear, complete description. Obviously; described embodiment is only a part of embodiment of the present utility model; therefore all other embodiments obtained under the premise not making creative work based on other embodiments of the present utility model and those of ordinary skill in the art, broadly fall into the scope of this utility model protection.

Controller described in the utility model includes input module, with FPGA micro controller module, power module, energy supply control module and the motor drive module being core, described FPGA microcontroller is the fpga chip of altera corp's CycloneII series EP2C5Q208C8 model, input module, FPGA be the micro controller module of core, motor drive module and display module connection figure as shown in Figure 1.

As shown in Figure 1, the input module of controller described in the utility model includes following components, respectively: current sampling signal, voltage sampling signal, lifting motor temperature sampling signal, traction electric machine temperature sampling signal, load weight sampled signal, the relative ground level sampled signal of pallet fork, pallet fork lifting velocity sampled signal, pedal output voltage sampled signal. Inside FPGA, work process according to different converter and AD conversion corresponding to work schedule design control module. Sensor and the technical specification of converter that this utility model adopts are as follows:

Current sample sensor: HNC-300LT Hall current sensor;

Converter: MAXl224 (12 bits serial A/D transducer);

Voltage sample sensor: HS-V730U;

Converter: MAXl224 (12 bits serial A/D transducer);

Motor temperature sensor: critesistor;

Converter: TLC549 (8 Bits Serial; Converter);

Load weight sensor: XJC-Y04 LOAD CELLS;

Converter: TLC1543 (10 bits serial A/D transducer);

Height sensor: ultrasonic range finder;

Converter: TLC1543 (10 bits serial A/D transducer);

Pallet fork rising or falling speed sensor: MPU6050;

Converter: TLC1543 (10 bits serial A/D transducer);

Pedal output voltage converter: TLC549 (8 bits serial A/D transducer).

As it is shown in figure 1, the microcontroller that FPGA is core mainly comprises following components, being different converter corresponding A D shift control module respectively, display control module, RAM, energy supply control module, DSP module, speed output selects module. The effect of each module is as described below.

(1) AD conversion controls module: AD conversion controls module and mainly produces the sequential needed for converter normal operation, and receives the result after AD conversion by this module.

(2) display control module: display control module shows required clock circuit mainly for generation of display screen, receives the data to show, and is sent to display screen and shows.

(3) RAM module: RAM module is mainly used to after storing converter conversion as a result, it is desirable to use the module of these results to take out required value by address choice.

(4) energy supply control module: energy supply control module primarily serves the effect of protection; specific embodiments is: the energy supply control module electric current to receiving, voltage sample module value judge; when producing motor rotation blockage or short circuit; electric current will exceed the value of regulation; at this moment energy supply control module can judge rapidly and export corresponding signal, opens relay switch, power cutoff; forbid that control wave exports, protect motor and controller.

(5) speed output select module: speed output select module be primarily directed to prevent driver's maloperation cause material damage and design. Specific embodiments is: when driver steps on pedal, when making pallet fork lift, speed output selects module can carry out the door frame state judged now, leans forward or level if door frame is in, will not controlling pallet fork lifting when driver steps on pedal, speed output selects module output signal to be 0; When door frame is in and tilts backwards, when driver steps on pedal, speed output selects the velocity amplitude that module output is corresponding, and sends it to DSP, the DSP corresponding pulse-width signal of output, by driving module to control electric machine rotation.

Fig. 2 is the flow chart of this utility model electri forklift lifting motor controller work; After controller powers on, the state of detection controller, but detect without exception, controller has detected whether that lift control signal input, simultaneously the temperature of controller Real-time Collection lifting motor, electric current and voltage signal judge signal whether exception. Under normal circumstances, FPGA receives the signal produced after driver steps on pedal to whole signals, and the output of FPGA Negotiation speed selects module to judge whether the Determines of electri forklift pallet fork and door frame exports given rate signal.

The specific implementation process flow chart of speed selection module is as shown in Figure 3. Speed selects the output of module to be divided into following several situation.

(1) select that module detection pallet fork does not have bringing onto load when the speed of FPGA exports, and pallet fork door frame is in plumbness or retroverted state, exports given speed signal.

(2) selecting do not have bringing onto load on module detection pallet fork when the speed of FPGA exports, and pallet fork door frame is in forward-lean state, output speed signal is 0.

(3) select on module detection pallet fork with load when the speed of FPGA exports, and pallet fork door frame is in retroverted state, then output given rotating speed signal is to DSP, produces pulse-width signal by vector control algorithm DSP within, and is sent to driving plate drive motor and just or reverses.

(4) selecting on module detection pallet fork with load when the speed of FPGA exports, and pallet fork door frame is in plumbness or forward-lean state, output speed signal is 0.

Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8 are FPGA interior section functional block diagram in this utility model electri forklift lifting motor controller. Fig. 4 is that TLC549 controls module, and Fig. 5 is energy supply control module, and Fig. 6 is that TLC1543 controls module, and Fig. 7 is that speed output selects module, and Fig. 8 is LCD12864 display control module. Each module is used that VerilogHDL hardware description language is built-up, takes full advantage of the executed in parallel of FPGA and the feature that capacity of resisting disturbance is strong. Whole FPGA is internal adopts modular design method, and function divides clear, has very strong motility, provides convenience condition for the upgrading of later controller simultaneously.

Claims (5)

1. the electri forklift pallet fork lift control device based on FPGA, it is characterized in that: described controller includes with FPGA micro controller module, DSP module, input signal acquisition module, power module, energy supply control module and the motor drive module being core, wherein input signal acquisition module is connected with FPGA module, the input of power module connects the accumulator of electri forklift, output connects FPGA and is connected with DSP module, DSP is connected with FPGA by I/O interface, and DSP is connected with motor drive module by I/O mouth.

2. the electri forklift pallet fork lift control device based on FPGA according to claim 1, it is characterised in that: described FPGA microcontroller is the fpga chip of altera corp's CycloneII series EP2C5Q208C8 model.

3. the electri forklift pallet fork lift control device based on FPGA according to claim 1, it is characterised in that: described DSP module is TI company's T MS320F28335 model dsp chip.

4. the electri forklift pallet fork lift control device based on FPGA according to claim 1, it is characterized in that: described power module is DC/DC transducer, the DC source phase inversion of the input of DC/DC transducer 80V directly and on fork truck is even, the output 5V voltage of DC/DC transducer is connected with FPGA and DSP module, and the 12V power supply of output is connected with outside light fixture.

5. the electri forklift pallet fork lift control device based on FPGA according to claim 1, it is characterised in that: described energy supply control module is to be exported two paths of signals by FPGA to be connected with the relay controlling on and off switch.