CN209492391U - A kind of modularization Speed limiting system for fork truck - Google Patents
A kind of modularization Speed limiting system for fork truck Download PDFInfo
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- CN209492391U CN209492391U CN201821975156.1U CN201821975156U CN209492391U CN 209492391 U CN209492391 U CN 209492391U CN 201821975156 U CN201821975156 U CN 201821975156U CN 209492391 U CN209492391 U CN 209492391U
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Abstract
The utility model provides a kind of modularization Speed limiting system for fork truck, can be realized the modularization of speed limitation, realizes different speed limitation demands；Demand is converted according to user job place simultaneously, realizes unlatching and closing for speed limiting function；According to fork truck the max speed and maximum engine speed be not high and ladder speed restrictive block demand, solve the problems, such as that the fluctuation of speed is big when governed engine speed and the stabilization of speed response time is long.The utility model uses modular design of hardware and software, solves different brands engine same vehicle upper limit speed difference is different and software and hardware disunity defect；The utility model compares active speed limit based on the real-time speed of dynamic acquisition, and vehicle speed limit is more accurate.
Description
Technical field
The utility model relates to fork truck technical field more particularly to a kind of modularization Speed limiting systems for fork truck.
Background technique
In the daily operation of warehouse and factory, fork truck is existing frequently-used one of carrying vehicle, does not press working specification such as
It drives, safety will be seriously threatened.Fork truck gear is more, and speed is high, in order to guarantee the safety of fork truck driving, uses field specific
It closes, it is necessary to using the speed of speed limiting system limitation fork truck, prevent maloperation.
Existing fork truck Speed limiting system needs tach signal to be input to ECU, using ECU according to gearbox speed ratio,
Axle-drive reduction ratio, the parameters such as wheel footpath, calculates speed, then limits engine oil again according to speed, to reach speed limit
Purpose；Control unit of engine is different, is required to calculate speed, then carry out speed limit, cannot achieve modularized design.Speed limitation
Value can not select, while cannot achieve unlatching and closing for speed limiting function；Due to engine control strategy deficiency, speed is caused to limit
Closeness processed is not high, and speed limit span section is larger.
Utility model content
In order to solve above-mentioned technological deficiency existing in the prior art, the utility model provides a kind of module for fork truck
Change Speed limiting system, can be realized the modularization of speed limitation, realizes different speed limitation demands；Simultaneously according to user job
Place converts demand, realizes unlatching and closing for speed limiting function；According to fork truck the max speed and maximum engine speed it is not high and
Ladder speed restrictive block demand solves the problems, such as that the fluctuation of speed is big when governed engine speed and the stabilization of speed response time is long.
The utility model is achieved through the following technical solutions:
A kind of modularization Speed limiting system for fork truck, comprising:
For acquiring the revolving speed of the gearbox in real time and generating the speed probe module of corresponding tach signal；
It is converted for carrying out voltage sample, signal filtering and A/D to the tach signal, generates and show corresponding revolving speed
The combination instrument module of data；
For obtaining the real-time vehicle speed data and the rotary speed data of the fork truck in real time, and combine preset target vehicle speed
Data carry out the ECU controller module of judgement and calculation processing；
The speed probe module, the combination instrument module and the ECU controller module are sequentially connected electrically；Its
In, the speed probe module is electrically connected with the gearbox of the fork truck, the hair of the ECU controller module and the fork truck
Motivation electrical connection.
As prioritization scheme, the combination instrument module further comprises: sequentially connected voltage sample submodule, signal
Filter submodule, A D signal transform subblock and display module；The input terminal of the voltage sample submodule is as the combination
The input terminal of instrumentation module, the A D signal transform subblock output end of the output end as the combination instrument module.Make
For prioritization scheme, the ECU controller module uses the ECU controller module of tree-shaped system structure, the ECU controller module
It further comprise sensor, control unit and actuator.
As prioritization scheme, the speed probe module includes magnetoelectric tachometric transducer, the speed probe
The spacing of magnetic head and the gearbox gears gear teeth is 0.5-0.9mm.
As prioritization scheme, the A D signal transform subblock select MC9S12XS128 processor.
The beneficial effect of the utility model compared with the existing technology is:
1, modular design of hardware and software, solve different brands engine same vehicle upper limit speed difference is different and software and hardware not
Unified defect.
2, the real-time speed based on dynamic acquisition compares active speed limit, and vehicle speed limit is more accurate.
3, speed limitation function can unlatch and close at any time, while the numerical value of speed limitation can use need according to different
It asks and is adjusted in real time.
4, it is adjusted based on dynamic PID of the automatically controlled ECU to engine, fast implements engine speed limitation and reach stable turn
Speed, avoiding engine tourist bus from occurring, the fluctuation of speed is big and the defect of stabilization of speed low-response.
Detailed description of the invention
Fig. 1 is overall structure block diagram of the embodiment 1 for the modularization Speed limiting system of fork truck.
Fig. 2 is the installation site and operation principle schematic diagram of speed probe.
Fig. 3 is the structural block diagram of combination instrument module.
Fig. 4 is the circuit diagram of the sampling of combination instrument module voltage, signal filtering and A/D conversion.
Fig. 5 is the circuit diagram of combination instrument module.
Fig. 6 is that the Speed limiting system provided using embodiment 1 realizes the general flow chart of fork truck speed limitation.
Fig. 7 is that engine dynamic PID adjusts schematic illustration.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, comprising:
Speed probe module 1, speed probe 11, combination instrument module 2, voltage sample submodule 21, signal filtering
Submodule 22, A D signal transform subblock 23, display module 24, ECU controller module 3, gearbox 4, gearbox gear 41,
Engine 5.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that the specific embodiments described herein are only used to solve
The utility model is released, is not used to limit the utility model.
Embodiment 1:
As shown in Figure 1, a kind of modularization Speed limiting system for fork truck, including the speed probe being sequentially connected electrically
Module 1, combination instrument module 2 and ECU controller module 3；Wherein, the change of the speed probe module 1 and the fork truck
Fast case 4 is electrically connected, and the ECU controller module 3 is electrically connected with the engine 5 of the fork truck.
The speed probe module 1 is used to acquire the revolving speed of the gearbox 4 in real time and generates corresponding tach signal
It is sent to the combination instrument module 2.As shown in Fig. 2, the speed probe module 1 includes a magnetoelectric tachometric transducer,
The speed probe that diesel fork lift truck uses is automobile and the common magnetoelectric tachometric transducer of engineering machinery, is former using magnetic induction
Reason realizes tachometric survey, and sensor internal has permanent magnet and induction coil, and when gear rotation, the concave-convex tooth form of gear causes
The variation of size of gaps between gear and permanent magnet works as gear to be the variation of the magnetic flux in the magnetic circuit of permanent magnet composition
When close to magnetic head, magnetic resistance reduces, and when gear leaves magnetic head, magnetic resistance increases, and magnetic flux generates induction electric at periodic variation
Gesture, frequency and amplitude being changed by frequency with gear tooth of induced electromotive force are that is, directly proportional to the revolving speed of gear.Because of magnetic
Electric-type speed probe is passive sensor, so the distance of reaction of sensor smaller i.e. transducer magnetic head and gear tooth spacing
It is required that between 0.5-0.9mm.
The combination instrument module 2 is used to carry out the tach signal voltage sample, signal filtering and A/D and converts, raw
At and show corresponding rotary speed data.Specifically, as shown in figure 3, the combination instrument module 2 further comprises: being sequentially connected
Voltage sample submodule 21, signal filtering submodule 22, A D signal transform subblock 23 and display module 24；The voltage
Sample input terminal of the input terminal as the combination instrument module 2 of submodule 21, the A D signal transform subblock 23 it is defeated
Output end of the outlet as the combination instrument module 2.
In conjunction with the circuit diagram of Fig. 4, voltage sample, signal filter and the concrete signal handling principle explanation of A/D conversion
As follows: for speed probe using magnetoelectric tachometric transducer, output signal is sinusoidal signal, the revolving speed of signal frequency and axis
Directly proportional, the correction conditioned circuit of string signal is shaped as pulse signal.Signal amplitude changes with revolving speed, low speed signal amplitude
Small, so to amplify to small size value signal, high speed signal amplitude is larger, thus to use diode limiting, due to interference
Signal may be scurried into sensor signal, so having used RC filter in circuit.Interference signal is after filtering, pulse width
Degree also reduces, then by interference signal can not be passed through, to play filter action after comparator.By amplification, shaping and
Then signal after filtering is re-introduced into A/D by photoelectrical coupler and converts in single-chip microcontroller.In practical applications, A D signal turn
MC9S12XS128 processor can be selected in the single-chip microcontroller changed in submodule 23, and the signal after RC filtering, clipping enters
The capture mouth of MC9S12XS128 processor carries out A/D conversion.
In a particular application, the combination instrument module 2 and ECU controller module 3 are passed by CAN bus realization data
Defeated, Fig. 5 is CAN bus processing circuit, wherein CAN communication module is compact processor.
The ECU controller module 3 obtains the real-time vehicle speed data and the rotary speed data of the fork truck in real time, and combines
Preset target vehicle speed data carry out judgement and calculation processing；The oil mass of the engine is controlled according to processing result, realizes fork
The speed of vehicle limits.The ECU controller module of tree-shaped system structure, rule can be used in the applicable ECU controller module 3 of the present embodiment
Lattice are F05 version, and hardware composition includes: sensor, control unit and actuator.
The fork truck Speed limiting system, soft and hardware modularized design；Multifunction switch can choose target vehicle speed, real
The use demand that existing client unlatches and closes different restricted speeds and speed limiting function.
Realize that the technical principle of speed limitation and workflow are as follows using the Speed limiting system of such as embodiment 1:
The revolving speed of the engine is acquired in real time using the speed probe module 1 and generates corresponding tach signal sends out
Give the combination instrument module 2.
Voltage sample, signal filtering and A/D is carried out to the tach signal using the combination instrument module 2 to convert, it is raw
At and show corresponding rotary speed data.
Obtain the real-time vehicle speed data and the rotary speed data of the fork truck in real time using the ECU controller module 3, and
Judgement and calculation processing are carried out in conjunction with the target vehicle speed data of input；The oil mass of the engine is controlled according to processing result, it is real
The speed limitation of existing fork truck.Wherein, real-time vehicle speed data can be according to rotary speed data combination axle-drive reduction ratio, the tire acquired in real time
Radius calculates vehicle speed in real time.
In this process, judge and the method for calculation processing specifically include:
Step S1 judges whether to start the control of speed speed limit according to the real-time vehicle speed data and the target vehicle speed data
System；If starting speed Control for Speed Limitation, real-time vehicle speed data is detected with the presence or absence of abnormal；If real-time vehicle speed data normally if enter
Step S2 does not start speed limitation control if real-time vehicle speed data is abnormal.
In step S301, real-time vehicle speed data is detected with the presence or absence of abnormal method specifically: if vehicle speed data≤
2km/h is then determined as exception, is otherwise normal.
Step S2, when collecting real-time vehicle speed data, according to the current of the target vehicle speed data and the engine
It sprays oil mass and carries out PID calculating, obtain speed aimed acceleration；It is converted according to the speed aimed acceleration and preset oil mass
Coefficient, which calculates, obtains speed limitation oil mass, as processing result.
When not collecting real-time vehicle speed data, speed limitation control is not started.
In step s 2, PID calculating is carried out according to the target vehicle speed data and the current injection oil mass of the engine
Method include:
According to the target vehicle speed data and preset driving size of wheel and axle-drive reduction ratio, calculate at speed probe
Rotating speed of target；According to the current injection oil mass of the target vehicle speed, rotating speed of target and engine, in conjunction with engine response,
It is calculated by dynamic PID, obtains speed aimed acceleration.
Herein, ECU is divided partially according to sensor target revolving speed and real-time revolving speed, differential and integral calculation, realization start
The fluctuation of speed is big when machine speed limit and the long problem of stabilization period.
The utility model is, by the system integration and modularized design, to realize fork truck based on existing fork truck configuring condition
Active speed limiting function realizes different speed limitation functions；Change for user job place, realizes in use process and speed is limited
Function processed unlatches and closes；Not high (the max speed is usually no more than 35km/h at present), the engine for fork truck the max speed
Maximum (top) speed not high (maximum engine speed is usually no more than 2500r/min) and customer demand speed limit value comparatively dense situation (mesh
Preceding market demand speed limit is generally 5km/h and is increased stepwise to the max speed), rotating speed response is slow when governed engine speed, engine turns
It is big and turn to solve fluctuation of speed when governed engine speed by automatically controlled ECU to the accurate PID control of engine for situations such as speed fluctuation is big
Speed stablizes long problem of required response time.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiments of the present utility model only, not to
Limitation the utility model, any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc.,
It should be included within the scope of protection of this utility model.
Claims (5)
1. a kind of modularization Speed limiting system for fork truck characterized by comprising
For acquiring the revolving speed of gearbox in real time and generating the speed probe module (1) of corresponding tach signal；
It is converted for carrying out voltage sample, signal filtering and A/D to the tach signal, generates and show corresponding rotary speed data
Combination instrument module (2)；
For obtaining the real-time vehicle speed data and the rotary speed data of the fork truck in real time, and combine preset target vehicle speed data
Carry out the ECU controller module (3) of judgement and calculation processing；
The speed probe module (1), the combination instrument module (2) and the ECU controller module (3) are successively electrically connected
It connects；Wherein, the speed probe module (1) is electrically connected with the gearbox of the fork truck, the ECU controller module (3) with
The fork truck starts mechatronics.
2. modularization Speed limiting system according to claim 1, which is characterized in that the combination instrument module (2) into
One step include: sequentially connected voltage sample submodule (21), signal filtering submodule (22), A D signal transform subblock
(23) and display module (24)；The input terminal of the voltage sample submodule (21) is defeated as the combination instrument module (2)
Enter end, the A D signal transform subblock (23) output end of the output end as the combination instrument module (2).
3. modularization Speed limiting system according to claim 1, which is characterized in that the ECU controller module (3) is adopted
With the ECU controller module of tree-shaped system structure, the ECU controller module further comprises sensor, control unit and holds
Row device.
4. modularization Speed limiting system according to claim 1, which is characterized in that the speed probe module (1)
Including magnetoelectric tachometric transducer, the spacing of the magnetic head of the speed probe and the gearbox gears gear teeth is 0.5-
0.9mm。
5. modularization Speed limiting system according to claim 2, which is characterized in that the A D signal transform subblock
(23) MC9S12XS128 processor is selected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821975156.1U CN209492391U (en) | 2018-11-28 | 2018-11-28 | A kind of modularization Speed limiting system for fork truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821975156.1U CN209492391U (en) | 2018-11-28 | 2018-11-28 | A kind of modularization Speed limiting system for fork truck |
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| Publication Number | Publication Date |
|---|---|
| CN209492391U true CN209492391U (en) | 2019-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821975156.1U Active CN209492391U (en) | 2018-11-28 | 2018-11-28 | A kind of modularization Speed limiting system for fork truck |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501593A (en) * | 2018-11-28 | 2019-03-22 | 安徽合力股份有限公司 | A kind of modular cart speed limit system and method for fork truck |
| CN111169284A (en) * | 2020-02-25 | 2020-05-19 | 杭叉集团股份有限公司 | Speed-limiting alarm control method and system for diesel fork lift truck |
-
2018
- 2018-11-28 CN CN201821975156.1U patent/CN209492391U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109501593A (en) * | 2018-11-28 | 2019-03-22 | 安徽合力股份有限公司 | A kind of modular cart speed limit system and method for fork truck |
| CN111169284A (en) * | 2020-02-25 | 2020-05-19 | 杭叉集团股份有限公司 | Speed-limiting alarm control method and system for diesel fork lift truck |
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