JPH1118215A - Controller for driving motor of battery car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a controller for driving motor of battery car which can easily appropriately select the driving characteristic of a driving motor, in accordance with the application. SOLUTION: Three kinds of rotating speed/current command value functions, in which the rotating speed of a drive motor 4 is correlated with the current command value of the motor 4, are prepared for high-speed low-torque, low- speed high-torque, and intermediate-speed intermediate-torque conditions of the motor 4. A mode selecting means 22 control the motor 4 by selecting one of the functions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a running motor of a battery vehicle, and more particularly to a control device useful for controlling a running motor of a battery forklift vehicle.

[0002]

2. Description of the Related Art Some forklift vehicles are powered by a battery as a power source and run by a motor as a drive source. As shown in FIG. 3, an electric forklift vehicle of this type includes a battery 1, an accelerator 2, a traveling motor control device 3, a traveling motor 4, a transmission device 5, a rotation sensor 6, and tires 7. The current of the travel motor 4 is controlled by the speed control device 3 based on the information representing the opening degree of 2 and the information representing the number of rotations of the travel motor 4 detected by the rotation sensor 6 so as to control the travel. .

A specific example of the traveling motor control device 3 in this case is disclosed in Japanese Patent Application No. 7-67898. A block diagram of a control system of the battery forklift vehicle including the traveling motor control device 3 is shown in FIG. As shown in FIG.
M11, accelerator section determination means 12, function extraction means 1
3. It has a current value calculation means 14 and a power conversion circuit 15. Here, the RAM 11 stores accelerator section data and motor rotation speed / current command value function group (accelerator section) data. Here, "accelerator classification data"
As shown in FIG. 5, the mode division (0 to 0 in this example)
7) is associated with the accelerator opening, and the “motor rotation speed / current command value function group (according to accelerator category) data” is a mode category (0 in this example) as shown in FIG. 7) and data unique to each mode. Each function at this time has a current characteristic with respect to the rotation speed of the traveling motor 4 as shown in FIG.

[0004] The accelerator section determination means 12 shown in FIG.
Based on the accelerator opening signal indicating the accelerator opening transmitted by the accelerator 2, the accelerator classification is determined by referring to the data in the RAM 11, and the determination result is transmitted to the function extracting means 13. The function extracting means 13 extracts a motor speed / current command value function corresponding to the accelerator division from the RAM 11. The current value calculation means 14 calculates the current command value corresponding to the rotation speed at this time by referring to the motor rotation speed information detected by the rotation sensor 6 based on the motor rotation speed / current command value function extracted from the RAM 11. The current command value is converted to the power conversion circuit 15
To supply. The power conversion circuit 15 controls so that the current value supplied from the battery 1 to the traveling motor 4 becomes a predetermined current command value. The power conversion circuit 15 can be suitably formed by, for example, a DC chopper. In the case of a DC chopper, a desired current value can be obtained by controlling the output voltage by duty control.

[0005]

In the prior art as described above, the traveling motor 4 is selected by selecting a motor speed / current command value function uniquely determined according to the opening degree of the accelerator 2.
The current value to be supplied to the motor speed / current command value function, the current command value data that satisfies a predetermined ascending force in the low-speed range and the current command value that satisfies the predetermined maximum speed in the high-speed range By providing the value data and the current command value data for reducing the battery consumption in the medium speed range, respectively, there is an effect that it is possible to perform reasonable travel control of the battery forklift vehicle.

On the other hand, there are various uses of a battery forklift truck, such as a use for traveling on a flat ground for a long distance, and a use for performing a transport operation in an environment where a large number of hills require climbing force. In applications where transport work is performed over long distances on flat terrain, torque is not necessary, but a maximum speed is desired as much as possible. Then, the maximum speed does not have to be high, but it is desirable that the torque be as high as possible. At this time, since the traveling motor 4 is a DC motor,
The torque and speed of the traveling motor 4 are in a trade-off relationship. In other words, the relationship is such that increasing the current value to increase the torque decreases the speed, and decreasing the current value decreases the torque.

Therefore, in the prior art, a plurality of types of traveling motors 4 having different characteristics are prepared so as to have optimum characteristics according to the use of the battery forklift vehicle, and the optimum one is appropriately selected from these. Or by changing the gear ratio of the transmission device 5. For this reason, there was a drawback that it was not possible to flexibly cope with each application.

An object of the present invention is to provide a control device for a running motor of a battery vehicle, which can easily select an appropriate running characteristic according to the application in view of the above-mentioned prior art.

[0009]

According to a first aspect of the present invention, there is provided a traveling motor control device for driving a battery vehicle through a transmission device and a tire, wherein a current command value for a rotation speed of the traveling motor is represented. A plurality of types of motor rotation speed / current command value functions, such as a high speed / low torque, a low speed / high torque, and a standard function between the two, are prepared. One of the functions is selected by the mode selection means, and the traveling motor is controlled based on the selected motor rotation speed / current command value function.

According to the present invention, the traveling control of the traveling motor is performed based on the motor rotation speed / current command value function corresponding to the mode selected by the mode selection means.

Another aspect of the present invention is a driving motor control device for driving a battery vehicle through a transmission device and a tire, wherein a high speed / low torque, a low speed / high torque and a standard which is intermediate between the two are set. Mode selection means for selecting any one of a plurality of types of modes, and mode determination means for determining a mode selected by the mode selection means based on a mode signal output from the mode selection means are provided in advance. First function extracting means for extracting a motor speed / current command value function corresponding to the mode determined by the mode determining means from the motor speed / current command value function for each mode, and output from the accelerator. Accelerator section determining means for determining which of the preset accelerator sections includes the accelerator opening at this time based on the accelerator opening signal Extracting a motor speed / current command value function corresponding to the accelerator section determined by the accelerator section determining means from the motor speed / current command value function extracted by the first function extracting means; A current command value to be output to the power conversion circuit based on the motor speed / current command value function extracted by the function extracting means and the second function extracting means and the speed information from a rotation sensor for detecting the speed of the traveling motor. And a power conversion circuit that controls the current supplied to the traveling motor to be the current command value obtained by the current calculation means.

According to the present invention, in the motor speed / current command value function, current command value data satisfying a predetermined uphill force in a low speed range, current command value data satisfying a predetermined maximum speed in a high speed range, In the medium speed range, by having current command value data to reduce battery consumption,
Not only is it possible to perform reasonable running control of the battery car according to the degree of opening of the accelerator, but also to run the running motor based on the motor speed / current command value function corresponding to the mode selected by the mode selecting means. Is performed.

[0013]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a block diagram showing a control system of the battery forklift vehicle including the traveling motor control device 20 according to the present embodiment, and FIG.
FIG. 9 is a characteristic diagram illustrating a current command value function (for high speed / low torque, for low speed / high torque, for standard). In this embodiment, a mode selection unit 22, a mode determination unit 24, and a first function extraction unit 25 are added to the traveling motor control device 3 of the control system according to the related art shown in FIG. A second function extracting means 23 is provided instead of the function extracting means 13. Therefore, the same parts as those in FIG.

The RAM 21 stores accelerator division data and a motor speed / current command value function group as in the prior art. In this case, the motor speed / current command value function group is
For each data for each accelerator category as in the conventional case, the data is a combination of three types of modes: a high-speed / low-torque mode, a low-speed / high-torque mode, and a standard mode intermediate between the two modes. That is, for example, the accelerator division “7”
As shown in FIG. 2, three functions are formed for high speed / low torque I, low speed / high torque II, and standard III, and the same applies to other accelerator divisions "1" to "6". Are formed in three types. Here, the “high-speed / low-torque mode” is a mode having characteristics of increasing the maximum speed and decreasing the torque, and is useful for long-distance running on a flat ground such as a runway. The “low-speed / high-torque mode” is a mode having a characteristic in which the maximum speed is reduced by increasing the torque, and is a useful mode, for example, for use in many hills requiring a large climbing force. "Standard mode"
Is an intermediate mode between the two.

The mode selecting means 22 selects one of the high-speed / low-torque mode, the low-speed / high-torque mode and the standard mode, and sends out a mode signal indicating the selected mode. The mode determining means 24 determines the mode selected by the mode selecting means 22 based on the mode signal. The first function extracting unit 25 refers to the RAM 21 and selects a motor rotational speed / current corresponding to the mode determined by the mode determining unit 24 from the motor rotational speed / current command value function for each mode prepared in advance. Extract the current command value function. The second function extracting means 23 is a first function extracting means 2
From the motor speed / current command value function extracted in step 5, a motor speed / current command value function corresponding to the accelerator section determined by the accelerator section determining means 12 is extracted. The current calculating means 14 supplies the electric power to the power conversion circuit based on the motor speed / current command value function extracted by the second function extracting means 23 and the rotation speed information from the rotation sensor 6 for detecting the rotation speed of the traveling motor 4. Find the current command value to be output.

According to this embodiment, the mode selecting means 2
The travel control according to the accelerator opening is performed using the motor rotation speed / current command value function group of the specific mode selected in 2.

[0017]

As described above in detail with the embodiments, the present invention provides a motor rotation speed / current command value function, which is a data group representing a current command value with respect to the rotation speed of a traveling motor, at a high speed / low speed. A plurality of types such as a torque type, a low-speed / high-torque type, and a standard type intermediate between the two types are prepared, and one of these motor speed / current command value functions is selected by a mode selection means, and the selected motor is selected. Since the traveling motor is controlled based on the rotation speed / current command value function, the high-speed / low-torque mode, the low-speed / high-torque mode, the standard mode, and the like can be simply selected by the mode selection means.
Desired driving characteristics can be obtained. That is, it is possible to provide an appropriate battery vehicle according to the application without requiring a hardware change according to the application as in the related art.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a control system of a battery forklift vehicle including a traveling motor control device according to an embodiment of the present invention.

FIG. 2 is a characteristic diagram showing a motor rotation speed / current command value function (for high speed / low torque, for low speed / high torque, for standard) according to the embodiment.

FIG. 3 is an explanatory view conceptually showing a battery forklift vehicle according to the related art.

FIG. 4 is a block diagram showing a control system of the battery forklift vehicle including the traveling motor control device according to the related art.

FIG. 5 is an explanatory view conceptually showing accelerator division data.

FIG. 6 is an explanatory diagram conceptually showing data in which an accelerator opening and a corresponding section (0 to 7 in this example) are associated with each other.

FIG. 7 is a characteristic diagram showing a relationship between a motor rotation speed and a current command value using an accelerator opening as a parameter.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 12 Accelerator classification determination means 14 Current value calculation means 15 Power conversion circuit 20 Traveling motor control device 21 RAM 22 Mode selection means 23 Second function extraction means 24 Mode determination means 25 First function extraction means

Claims (2)

[Claims] 1. A control device for a traveling motor that causes a battery vehicle to travel via a transmission device and tires, wherein a motor rotation speed / current command value function, which is a data group representing a current command value with respect to the rotation speed of the traveling motor, is set to a high speed. A plurality of types are prepared, such as a low torque type, a low speed / high torque type, and a standard type intermediate between the two types, and one of these motor speed / current command value functions is selected and selected by a mode selecting means. A control device for a traveling motor of a battery vehicle, wherein the traveling motor is controlled based on the motor speed / current command value function. 2. A control device for a traveling motor for traveling a battery vehicle via a transmission device and tires, comprising: a plurality of set modes such as a high speed / low torque, a low speed / high torque, and a standard intermediate between the two. Any one from inside
Mode selection means for selecting one mode, mode determination means for determining a mode selected by the mode selection means based on a mode signal output from the mode selection means, and motor rotation speed /
A first function extracting unit that extracts a motor rotation speed / current command value function corresponding to the mode determined by the mode determining unit from the current command value function; and an accelerator opening signal output from the accelerator. Accelerator division determining means for determining which of the preset accelerator divisions the accelerator opening is included in, and motor speed / current command value function extracted by the first function extracting means. Function extracting means for extracting a motor speed / current command value function corresponding to the accelerator category determined by the accelerator category determining means, and a motor speed / current command value function extracted by the second function extracting means Current value calculating means for obtaining a current command value to be output to the power conversion circuit based on rotation speed information from a rotation sensor for detecting the rotation speed of the traveling motor; Flow control device of the running motor battery vehicle, characterized in that it comprises a power conversion circuit for controlling such that the current command value calculated by the current calculation unit.