JPH1169514A - Method and apparatus for correcting input value of electric car controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate input value adjusting work by adjusting an offset value and a gain value so that a value on the basis of an A/D input of a load voltage or current may be equal to a detected value by an external instrument. SOLUTION: First of all, an external voltmeter 43 is connected to a battery BT, and an external ammeter 44 is connected to each running and hydraulic motor 12, 16. And at an automatic adjusting time, a battery voltage value and a motor current value by these external instruments are inputted into a host computer 26, and an offset value and a gain value obtained by specified arithmetic processing are inputted into a CPU 21. On the other hand, when no host computers 26 are used, a worker sees the voltmeter 43 and the ammeter 44, opetates an up-switch 30 or down-switch 31 and sets an offset value and a gain value so that these meter values may be equal to values being displayed by an LCD 37. And these set offset and gain values are stored in a RAM 23.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a device for correcting an input value of a control device for an electric vehicle such as a battery forklift vehicle.

[0002]

2. Description of the Related Art Conventionally, in a control device for an electric vehicle, a voltage or current value of a load such as a traveling motor, a hydraulic motor, or a battery is input to a CPU (or MPU) constituting the control device by A / D. By comparing the command value with the command value, traveling and hydraulic control are performed, and the remaining amount of the battery is displayed on a display panel such as an LCD. If there is an error in the A / D input values of these voltages or currents, accurate control cannot be performed. The error occurs due to a variation in a sensor that detects the voltage or current value of the load or an amplifier circuit thereof. So, to eliminate such errors,
It is known that a manual adjustment operation is performed by using a correction adjustment volume provided in a control device at the time of factory shipment.

[0003]

However, in the above-described conventional input value correction method or correction device, it is not easy to take time for the work and to perform the adjustment with high accuracy. If the adjustment accuracy is poor, the input value is shifted, and if used as it is, a malfunction or an error may occur.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is possible to easily and accurately adjust an input value in a short time, and it is also possible to perform the operation automatically without requiring any manual operation. It is an object of the present invention to provide a method and a device for correcting an input value of a control device for an electric vehicle.

[0005]

According to a first aspect of the present invention, a voltage or current value of a load such as a traveling motor or a hydraulic motor of an electric vehicle or a battery is set to A / D.
In the method of adjusting the input value of the electric vehicle control device to be input, the origin of the input voltage or current is determined in advance, and the control device is set so that the detection value by an external instrument that detects the load voltage or current becomes the origin. A first step of adjusting the offset value so that the value based on the A / D input of the voltage or current of the load becomes the same as the value detected by the external instrument, and an external instrument detecting the voltage or current of the load. When the control device is adjusted so that the detected value becomes substantially the maximum value of the input value or a predetermined value close thereto, the A / A
A second step of adjusting the gain value so that the value based on the D input becomes the same as the value detected by the external instrument; and a third step of storing the offset value and the gain value obtained in the first and second steps. It consists of steps. In this method, the offset value is adjusted so that the value based on the A / D input of the voltage or current of the load becomes the same as the value detected by the external instrument, and further, based on the A / D input of the voltage or current of the load. The gain value is adjusted so that the value becomes the same as the value detected by the external instrument, and each value is stored.

According to a second aspect of the present invention, in the method according to the first aspect, the offset value adjusted in the first step and the gain value adjusted in the second step are calculated by a computer. It is something that you get. In this method, an offset value and a gain value are obtained by arithmetic processing based on the A / D input of the voltage or current of the load to the computer.

According to a third aspect of the present invention, there is provided an input value adjusting device for an electric vehicle control device in which a voltage or a current value of a load such as a traveling motor or a hydraulic motor of an electric vehicle or a battery is input by A / D. The origin of the voltage or current to be applied is determined in advance, and based on the A / D input of the voltage or current of the load when the control device is set so that the value detected by an external instrument for detecting the voltage or current of the load becomes the origin. First adjusting means for adjusting the offset value so that the value becomes the same as the value detected by the external instrument; and a predetermined value whose detected value by the external instrument for detecting the voltage or current of the load is substantially the maximum value of the input value or close thereto. When the control device is adjusted so as to obtain the second value, the gain value is adjusted so that the value based on the A / D input of the load voltage or current becomes the same as the value detected by the external instrument.
And storage means for storing the offset value and the gain value adjusted by the first and second adjustment means. In this configuration, an operation equivalent to that of the first aspect is obtained.

According to a fourth aspect of the present invention, in the configuration according to the third aspect, the offset value adjusted by the first adjusting means and the gain value adjusted by the second adjusting means are processed by a computer. This is obtained by: In this configuration, an operation equivalent to that of the second aspect is obtained.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a drive circuit diagram of a forklift vehicle according to an embodiment to which an input value correction method of a control device for an electric vehicle according to the present invention is applied. The traveling main circuit 11 includes an armature A1 of the traveling motor 12, a field winding F1, a forward / reverse switching contactor MF, MR, and an FET or IG as a switching element for drive control.
It comprises a control element FC1 such as a BT, which is connected in series and connected to the battery BT. A flywheel diode D1 for flowing a circulating current is connected in parallel with the amateur A1. Current sensor 13,
Reference numeral 14 detects a current Ia flowing through the armature A1 and a current If flowing through the field winding (field) (Ia includes a return current).

The hydraulic main circuit 15 is composed of an armature A2 of a hydraulic motor 16, a field winding F2, and a control element FC2 such as an FET or IGBT as a switching element for driving control. Connected to BT. Amateur A2, flywheel diode D for flowing circulating current in parallel with field winding F2
2 are connected. The current sensor 17 detects a current Ih flowing through the armature A2 (field winding F2).

The operation of the driving circuit having the above configuration will be described. When the traveling motor 12 is running, the contactors MF,
The torque is controlled by switching the MR in accordance with the forward / reverse movement, turning on / off the control element FC1, and controlling the amateur current and the field current (chopper control). Hydraulic motor 1
Numeral 6 controls oil pressure by turning on / off the control element FC2 to control an amateur current (field current).

FIG. 2 is a circuit block diagram of the electric vehicle control device. The CPU 21 controls the running of the electric vehicle and the driving of the fork in accordance with various operation instruction inputs and in accordance with a predetermined program stored in the ROM 22.
The CPU 21 has a built-in RAM 23 storing various data and the like, and has an A / D converter 24, a serial interface (SIO) 25 with an external host computer 26, and the like. A backup battery 27 is connected to the RAM 23. As an operation instruction input, an up switch 30, a down switch 31, a rotary switch 32, and a mode switch 33 for adjustment are provided in addition to the accelerator 28 and various operation switches 29. The voltage (34) of the battery BT and the respective motor currents (35; current sensors 13, 1) of the travel motor 12 and the hydraulic motor 16
The detection currents Ia, If, and Ih by A / D conversion 4 and 17 are A / D converted and input.

The CPU 21 displays various kinds of monitors on the LCD 37 via the display driver 36, controls the gate (39) of the control element FC1 via the traveling motor driver 38, and controls the driving of the traveling motor 12. In addition, the gate (41) of the control element FC2 is controlled via the hydraulic motor driver 40 to control the driving of the hydraulic motor 16.

When performing the adjustment work for correction,
An external voltmeter 43 is connected to the battery BT, and an external ammeter 44 is connected to each of the traveling and hydraulic motors 12 and 16. When the adjustment is automatically performed using the host computer 26, the battery voltage value and the motor current value by these measuring instruments are input to the host computer 26,
The offset value and the gain value obtained by the predetermined arithmetic processing from the host computer 26 are output to the CPU 21. When the host computer 26 is not used, the operator looks at the external voltmeter 43 and the ammeter 44, and switches the up switch 30 or the down switch 30 so that the display value on the LCD 37 becomes the display value of the voltmeter 43 and the ammeter 44. By operating the switch 31, the offset value and the gain value are set. The details will be described later.

FIG. 3 shows an example of a monitor display screen on the LCD 37. The CPU 21 controls the LCD 3 based on various input values not only during normal operation but also during adjustment work.
7 is displayed on the monitor. For example, battery voltage (34)
The remaining amount of the battery BT is obtained by calculation based on the A / D input value of the above, and is displayed on the battery capacity display section 46. Also,
The mode display section 47 displays the selected mode content (in the illustrated example, the motor current Ia level at the time of the adjustment operation is 400 A (ampere)).

A method for correcting an input value of the electric vehicle control device having the above-described configuration will be described below with reference to FIGS. FIG. 4 shows a processing procedure of a motor current input value correcting operation. When entering the input value correction work, first, turn on the power (#
1) The output of the accelerator 28 and other operation switches 29 is set to zero (origin) (# 2), the rotary switch 32 is set to the adjustment mode (# 3), and the mode switch 33 is set to the offset mode (for adjusting the level). ) (# 4). In this offset mode, offset adjustment is performed using the up switch 30 or the down switch 31 (# 5). Next, the mode switch 33 is set to the gain adjustment mode (for adjusting the inclination) (#
6). In this gain adjustment mode, the indication value of the external ammeter 44 is set to a predetermined value (for example, the maximum value of 400 A).
The accelerator 28 is adjusted to ON (# 7). LC at that time
The gain is adjusted using the up switch 30 or the down switch 31 so that the display by D37 becomes the predetermined value (# 8).

FIG. 5 is a diagram showing the relationship between the external input and the display value of the LCD 37, showing the concept of offset adjustment and gain adjustment. The horizontal axis indicates an external input (indicated value of the ammeter 44), and the vertical axis indicates a value displayed on the LCD 37 by the CPU 21. By the offset adjustment of the origin in # 5, the characteristic line G1 becomes the characteristic line G2 passing through the origin. Further, by the gain adjustment in # 8, the characteristic line G2 is near the maximum value of the external input and the displayed value is equal to the characteristic line G2. The characteristic line G3 becomes as follows.

FIG. 6 is a flowchart of a processing procedure by the CPU 21 for input value correction. First, the A / D value of the motor current (35) is input to the CPU 21 in a state where each section is set to adjust the origin (# 11), and the rotary switch 32 and the mode switch 33 are set to the offset adjustment mode (# The measured value (= gain × input value × offset value) is displayed on the LCD 37 (# 13). In this state, the offset value is increased or decreased by using the up switch 30 or the down switch 31 (# 14).
~ # 17), the origin is adjusted. The set offset value is stored in the RAM 23.

Next, when the rotary switch 32 and the mode switch 33 are set to the gain adjustment mode in a state where the respective parts are set to perform the gain adjustment near the maximum value (# 1).
(YES at 8), the A / D value of the motor current (35) is input at # 11, and similarly, the measured value (= gain × input value × offset value) is displayed on the LCD 37 (# 19). In this state, the gain value is increased or decreased by using the up switch 30 or the down switch 31 (# 20 to # 23), and the gain is adjusted. The set gain value is stored in the RAM 23.

While the above description has shown the procedure in which the operator performs the adjustment while looking at the external ammeter 44, # 24 to # 2 described below will be described.
9 is a host computer 26 (hereinafter referred to as host)
7 is a processing procedure in the case of automatic adjustment using the. Host 26
If there is a request for an A / D input value from (YES in # 24),
The CPU 21 outputs an A / D input value to the host 26 (# 25). The host 26 obtains an offset value and a gain value by a predetermined calculation based on the input. Host 2
When the offset value is received from # 6 (# 26), the offset value is set (# 27). When a gain value is received from the host 26 (# 28), the gain value is set (# 29).

Thereafter, if the power is not turned off (NO in # 30), the process returns to # 11. When the power is turned off (#
30 (YES), the offset value and the gain value are backed up in the memory (# 31), and the process is terminated. With the above adjustment method, the input value adjustment work can be performed easily and accurately in a short time as compared with the conventional method.
This can be performed automatically without requiring human intervention.
Although the procedure for adjusting the voltage of the battery BT is not shown, it can be adjusted by the same method as described above.

The present invention is not limited to the configuration of the above embodiment, and various modifications are possible. For example, in the above-described embodiment, both the method of performing adjustment while the operator looks at the measuring instrument and the method of performing automatic adjustment using the host computer 26 are described side by side. However, only one of the methods can be performed. It may be. In addition, input values for performing offset adjustment and gain adjustment can be arbitrarily selected.

[0023]

As described above, according to the first or third aspect of the present invention, the offset value and the gain value for correcting the detection value of the voltage or current of the load such as the traveling motor, the hydraulic motor or the battery are set. It can be obtained with high accuracy by relatively simple adjustment work, and therefore, in the control operation of the electric vehicle, by correcting the detection value of the voltage or current using these offset value and gain value, high accuracy can be obtained. Control becomes possible.

According to the second or fourth aspect of the present invention, in addition to the above-described effects, the offset value and the gain value can be automatically obtained without requiring any manual operation.

[Brief description of the drawings]

FIG. 1 is a drive circuit diagram of a forklift vehicle according to an embodiment to which an input value correction method of an electric vehicle control device according to the present invention is applied.

FIG. 2 is a circuit block diagram of an electric vehicle control device.

FIG. 3 is a diagram showing an example of a monitor display screen on an LCD.

FIG. 4 is a flowchart illustrating a processing procedure of a motor current input value correction operation.

FIG. 5 is a diagram illustrating a relationship between an external input and a display value by an LCD.

FIG. 6 is a flowchart of a processing procedure by a CPU for input value correction.

[Explanation of symbols]

 Reference Signs List 12 running motor (load) 13, 14, 17 current sensor 16 hydraulic motor (load) 21 CPU (control device) 23 RAM (storage means) 24 A / D converter 26 host computer 28 accelerator (control device) 29 various operation switches (Control device) 30 Up switch (first and second adjustment means) 31 Down switch (first and second adjustment means) 32 Rotary switch 33 Mode switch 37 LCD 43 Voltmeter (external instrument) 44 Ammeter (external Instrument) BT battery

Claims (4)

[Claims] In an input value adjusting method for an electric vehicle control device in which a voltage or a current value of a load such as a traveling motor or a hydraulic motor of an electric vehicle or a battery is input by A / D, an origin of the input voltage or current is determined. When the controller is set in advance and the control device is set so that the value detected by the external instrument for detecting the voltage or current of the load becomes the origin, the value based on the A / D input of the voltage or current of the load is determined by the external instrument. A first step of adjusting the offset value so as to be the same as the detected value; and controlling the detected value by an external instrument for detecting the voltage or current of the load to be a substantially maximum value of the input value or a predetermined value close thereto. A second step of adjusting a gain value such that a value based on an A / D input of the voltage or current of the load becomes equal to a value detected by the external instrument when the device is adjusted; And a third step of storing the offset value and the gain value obtained in the second step. 2. The electric vehicle according to claim 1, wherein the offset value adjusted in the first step and the gain value adjusted in the second step are obtained by arithmetic processing by a computer. Input value correction method of the control device for the vehicle. 3. An input value adjusting device of an electric vehicle control device in which a voltage or a current value of a load such as a traveling motor or a hydraulic motor of an electric vehicle or a battery is input by A / D. When the control device is set so that the value determined in advance by the external instrument for detecting the voltage or current of the load becomes the origin, the value based on the A / D input of the voltage or current of the load is set to the external instrument. First adjusting means for adjusting the offset value so as to be the same as the detection value obtained by the above-mentioned method, and the detection value obtained by an external instrument for detecting the voltage or current of the load becomes a substantially maximum value of the input value or a predetermined value close thereto. Second adjusting means for adjusting a gain value such that a value based on the A / D input of the load voltage or current becomes the same as a value detected by the external instrument when the control device is adjusted. A storage unit for storing the offset value and the gain value adjusted by the first and second adjustment units. 4. The computer-readable storage medium according to claim 3, wherein the offset value adjusted by the first adjusting means and the gain value adjusted by the second adjusting means are obtained by an arithmetic processing by a computer. Input value correction device for electric vehicle control device.