KR101023377B1 - Method to control oil according to variance of load on engine powered lift truck - Google Patents

Method to control oil according to variance of load on engine powered lift truck Download PDF

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KR101023377B1
KR101023377B1 KR1020030097507A KR20030097507A KR101023377B1 KR 101023377 B1 KR101023377 B1 KR 101023377B1 KR 1020030097507 A KR1020030097507 A KR 1020030097507A KR 20030097507 A KR20030097507 A KR 20030097507A KR 101023377 B1 KR101023377 B1 KR 101023377B1
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load
engine
flow rate
electric joystick
change
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KR20050066244A (en
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전용철
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두산인프라코어 주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2200/00—Type of vehicle
    • B60Y2200/10—Road Vehicles
    • B60Y2200/15—Fork lift trucks, Industrial trucks

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

본 발명은 전기 조이스틱이 적용된 엔진지게차의 부하변동에 따른 유량 제어 방법에 관한 것이다.The present invention relates to a flow rate control method according to the load change of the engine forklift to which the electric joystick is applied.

이러한 본 발명은 전기 조이스틱이 적용된 엔진지게차에서 부하변동에 따라 유량을 제어하는 방법에 있어서, 엔진의 회전수에 비례하여 발생되는 0~12V 의 사인파 펄스 출력신호의 주파수를 분석하되 작업기에 인가되는 부하변동을 감지하는 단계; 및 부하변동이 감지되면 출력신호를 분석된 주파수에 따라 Vp-p 전압 혹은 펄스 카운트(Pulse count) 방식으로 변환하고, 전기 조이스틱의 지령신호와 연계하여 작업기의 리프팅(lifting)이나 틸팅(tilting) 실린더에 공급되는 유량을 제어하는 단계를 포함한 것을 특징으로 한다. The present invention is a method for controlling the flow rate in accordance with the load change in the engine forklift to which the electric joystick is applied, while analyzing the frequency of the sine wave pulse output signal of 0 ~ 12V generated in proportion to the number of revolutions of the engine load applied to the working machine Detecting a change; And when the load change is detected, the output signal is converted into a Vp-p voltage or pulse count method according to the analyzed frequency, and the lifting or tilting cylinder of the work machine is linked with the command signal of the electric joystick. It characterized in that it comprises the step of controlling the flow rate supplied to.

본 발명에 따르면, 작업기에 인가되는 부하의 변동에도 불구하고 작업의 제어성을 향상시키고 급작스런 부하변동에 따른 엔진이 멈추는 것을 방지함으로써 작업의 안정성과 효율성을 향상시키면서 유량 부족으로 인한 오동작을 방지할 수 있다. According to the present invention, it is possible to prevent malfunction due to insufficient flow rate while improving the stability and efficiency of the work by improving the controllability of the work despite the change of the load applied to the work machine and preventing the engine from being stopped due to sudden load change. have.

전기 조이스틱, 엔진지게차, 부하, 유량 제어 Electric joystick, engine forklift, load, flow control

Description

전기 조이스틱이 적용된 엔진지게차의 부하변동에 따른 유량 제어 방법{METHOD TO CONTROL OIL ACCORDING TO VARIANCE OF LOAD ON ENGINE POWERED LIFT TRUCK} Flow control method according to load change of engine forklift with electric joystick {METHOD TO CONTROL OIL ACCORDING TO VARIANCE OF LOAD ON ENGINE POWERED LIFT TRUCK}             

도 1 은 엔진지게차에 적용된 전기 조이스틱 제어 시스템의 블록도, 1 is a block diagram of an electric joystick control system applied to an engine forklift;

도 2 는 엔진지게차에 적용된 전기 조이스틱 제어 시스템의 회로도, 2 is a circuit diagram of an electric joystick control system applied to an engine forklift;

도 3 은 본 발명에 따라 부하변동에 따른 유량을 제어하기 위한 흐름도이다.
3 is a flow chart for controlling the flow rate according to the load change in accordance with the present invention.

*도면의 주요부분에 대한 부호의 설명DESCRIPTION OF THE REFERENCE NUMERALS

110 : 전기 조이스틱 제어 시스템 111 : 전기 조이스틱110: electric joystick control system 111: electric joystick

112 : 전기 조이스틱 제어부 113 : 전원부112: electric joystick control unit 113: power supply

114 : ALTERNATOR 115 : 비례 제어 밸브114: ALTERNATOR 115: proportional control valve

120 : lifting/tilting 실린더
120: lifting / tilting cylinder

본 발명은 엔진지게차의 유량 제어 방법에 관한 것으로서, 특히 전기 조이스틱이 적용된 엔진지게차에서 부하의 변동에 따라 유량을 제어하는 방법에 관한 것이다.
The present invention relates to a method for controlling the flow rate of an engine forklift, and more particularly, to a method for controlling the flow rate according to a load change in an engine forklift to which an electric joystick is applied.

지게차는 비교적 고중량의 물건을 들어올리고, 내리거나 또는 이것을 제한된 공간내에서 원하는 위치로 운반하는데 사용하는 장비로서, 동력원에 따라 크게 엔진지게차와 전동지게차로 나눌 수 있다. 전동지게차는 배터리로부터 공급되는 전기를 동력원으로 사용하며, 엔진지게차에 비해 배기가스가 없고 소음이 작아 실내 작업에 주로 이용되고 있다.
A forklift is a device used to lift and lower a relatively heavy object or to transport it to a desired position in a limited space. The forklift can be divided into an engine forklift and an electric forklift according to a power source. Electric forklifts use electricity supplied from a battery as a power source, and are mainly used for indoor work because they have no exhaust gas and low noise than engine forklifts.

한편, 이러한 지게차에는 운전자의 조작수단으로서 유압식 조이스틱이 적용되어 왔으나, 유압소음이나 누유 등의 문제로 인해 전기식 조이스틱이 점차적으로 적용되고 있는 실정이다. On the other hand, such a forklift has been applied to the hydraulic joystick as a driver's operation means, but due to problems such as hydraulic noise or leakage, the electric joystick is gradually applied.

그런데, 엔진지게차에 전기식 조이스틱이 적용되는 경우에 있어서 엔진에 인가되고 있는 실제 부하와 관계없이 밸브를 제어하는 OPEN LOOP CONTROL 방식을 적용함으로써 유량의 과부족으로 인한 정밀제어가 불가능하고 급작스러운 부하변동에 따라 엔진의 STALL이 빈번히 발생하고 있다. 이와 더불어, 작업자의 의도대로 유량 공급을 제어하지 못하는 문제가 발생되어 작업성이 나쁜 결과를 초래하고 있다. However, when the electric joystick is applied to the engine forklift, the OPEN LOOP CONTROL method is used to control the valve irrespective of the actual load applied to the engine, so that precise control is not possible due to the lack of flow rate and the sudden load change occurs. Engine stalls are frequently occurring. In addition, there is a problem that can not control the flow rate supply as the operator intended, resulting in poor workability.

또한, 전기 조이스틱 제어 시스템의 경우에 있어서 독립적으로 엔진지게차의 엔진 회전수를 제어할 수 있는 인터페이싱이 불가능하여 부하변동에 따라 유량을 제어하는데 어려움이 있다.
In addition, in the case of the electric joystick control system, it is not possible to interface independently to control the engine speed of the engine forklift truck, which is difficult to control the flow rate according to the load fluctuation.

이에 본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로서, 전기 조이스틱이 적용된 엔진지게차에서 작업의 안정성과 효율성을 향상시키고 유량 부족으로 인한 오동작을 방지할 수 있는 전기 조이스틱이 적용된 엔진지게차의 부하변동에 따른 유량 제어 방법을 제공하는데 그 목적이 있다.
Accordingly, the present invention has been made to solve the above problems, the load variation of the engine forklift truck is applied electric joystick that can improve the stability and efficiency of work in the engine forklift truck is applied electric joystick and prevent the malfunction due to lack of flow rate To provide a flow control method according to the purpose.

상기와 같은 목적을 달성하기 위하여 본 발명에 따른 전기 조이스틱이 적용된 엔진지게차의 부하변동에 따른 유량 제어 방법은, 엔진의 회전수에 비례하여 발생되는 0~12V의 사인파 펄스 출력신호의 주파수를 분석하되 작업기에 인가되는 부하변동을 감지하는 단계; 및 부하변동이 감지되면 출력신호를 분석된 주파수에 따라 Vp-p 전압 혹은 펄스 카운트(Pulse count) 방식으로 변환하고, 전기 조이스틱의 지령신호와 연계하여 작업기의 리프팅(lifting)이나 틸팅(tilting) 실린더에 공급되는 유량을 제어하는 단계를 포함한 것을 특징으로 한다.
In order to achieve the above object, the flow control method according to the load fluctuation of the engine forklift to which the electric joystick according to the present invention is applied, analyzes the frequency of the sine wave pulse output signal of 0 ~ 12V generated in proportion to the engine speed Detecting a load change applied to the work machine; And when the load change is detected, the output signal is converted into a Vp-p voltage or pulse count method according to the analyzed frequency, and the lifting or tilting cylinder of the work machine is linked with the command signal of the electric joystick. It characterized in that it comprises the step of controlling the flow rate supplied to.

이하, 첨부된 도면을 참조하여 본 발명을 상세히 설명하기로 한다.Hereinafter, with reference to the accompanying drawings will be described in detail the present invention.

도 1 은 엔진지게차에 적용된 전기 조이스틱 제어 시스템의 블록도이고, 도 2 는 엔진지게차에 적용된 전기 조이스틱 제어 시스템의 회로도이다. 도면에 도시 된 바와 같이, 전기 조이스틱 제어 시스템(110)은 전기 조이스틱(111), 전기 조이스틱 제어부(112), 전원부(113), ALTERNATOR(114), 및 비례 제어 밸브(115)로 구성된다. 1 is a block diagram of an electric joystick control system applied to an engine forklift, and FIG. 2 is a circuit diagram of an electric joystick control system applied to an engine forklift. As shown in the figure, the electric joystick control system 110 is composed of an electric joystick 111, an electric joystick controller 112, a power supply 113, ALTERNATOR 114, and a proportional control valve 115.

이러한 전기 조이스틱 시스템(110)은 엔진지게차 운전자가 전기 조이스틱(111)을 조작하면 이에 해당되는 작업을 처리하는데, 각각의 구성요소는 CANBUS로 연결된다. The electric joystick system 110 processes the corresponding operation when the engine forklift driver operates the electric joystick 111, and each component is connected to CANBUS.

전기 조이스틱(111)은 엔진지게차의 조작도구로서, 운전자가 리프트(lift) 혹은 틸트(tilt) 등의 작업을 위해 이를 조작하면 스트로크(stroke)에 비례하는 코드화된 전기신호를 출력한다. 여기서, 전기신호는 2 비트 혹은 3 비트 형태로 코드화되어 출력될 수 있다. The electric joystick 111 is an operation tool of an engine forklift, and when a driver manipulates it for a work such as a lift or tilt, it outputs a coded electric signal proportional to a stroke. Here, the electrical signal may be coded and output in a 2-bit or 3-bit form.

그리고, 전기 조이스틱 제어부(112)는 전기 조이스틱(111)에서 출력되는 전기신호에 비례한 스풀(spool)의 작동을 제어하는 전기-유압 비례 제어 밸브(115)를 제어하는 PWM 신호를 생성한다. In addition, the electric joystick controller 112 generates a PWM signal for controlling the electro-hydraulic proportional control valve 115 that controls the operation of a spool proportional to the electric signal output from the electric joystick 111.

ALTERNATOR(114)는 엔진의 회전에 따라 0-12V 의 사인파 펄스 신호를 발생한다. 비례 제어 밸브(115)는 전기 조이스틱 제어부(112)에서 생성되는 PWM 제어신호에 따라 작업기의 lifting 이나 tilting 실린더(120)에 공급되는 유량을 제어한다.
The ALTERNATOR 114 generates a sinusoidal pulse signal of 0-12V in accordance with the rotation of the engine. The proportional control valve 115 controls the flow rate supplied to the lifting or tilting cylinder 120 of the work machine according to the PWM control signal generated by the electric joystick controller 112.

도 3 은 본 발명에 따라 부하변동에 따른 유량을 제어하기 위한 흐름도로서, 전기 조이스틱이 적용된 엔진지게차에서 작업의 안정성과 효율성을 향상시키고 유량 부족으로 인한 오동작을 방지하기 위해 부하변동에 따라 유량을 최적으로 제어 하는 방법을 설명한다. 3 is a flow chart for controlling the flow rate according to the load change in accordance with the present invention, in order to improve the stability and efficiency of the operation in the engine forklift truck is applied electric joystick and to optimize the flow rate according to the load change in order to prevent malfunction due to lack of flow rate It explains how to control.

도 3 을 참조하면, 먼저 엔진지게차에서 엔진의 회전수에 비례하여 ALTERNATOR를 통해 발생되는 0~12V의 사인파 펄스 출력신호의 주파수를 분석한다(S310). 이 때, 외부에서 작업기에 급격한 부하가 인가되는 경우에는 엔진의 회전수가 감소하게 된다. Referring to Figure 3, first analyzes the frequency of the sine wave pulse output signal of 0 ~ 12V generated through the ALTERNATOR in proportion to the engine speed in the engine forklift (S310). At this time, when a sudden load is applied to the work machine from the outside, the engine speed decreases.

이어서, 주파수를 분석한 결과, 작업기에 인가되는 부하의 변동이 감지되는 경우에는 전기 조이스틱 제어부에서 출력신호를 분석된 주파수에 따라 Vp-p 전압 혹은 Pulse count 방식으로 변환하고, 전기 조이스틱으로부터의 지령신호를 감안하여 비례 제어 밸브를 제어함으로써 감지된 부하변동에 따라 작업기의 lifting 이나 tilting 실린더에 공급되는 유량을 최적으로 제어한다(S320,S330). 참고로, 상기의 Vp-p 전압이란 ALTERNATOR의 12volt 출력의 peak값을 의미한다.
상기의 사항을 정리하면, 엔진에 부하가 변동하면 엔진 회전수가 감소되고, 이 때 장착된 ALTERNATOR의 출력신호의 변동이 생긴다. 따라서, 이를 조이스틱 제어부에서 변환하여 counting 하면 부하변동과 주파수의 상관관계를 감지할 수 있다. 이후 제어부 내부의 software 알고리즘에 세팅된 함수와 이 주파수를 연계하여 비례제어밸브로 보내는 출력 전류를 최적 feedback closed loop 제어함으로써 lifting 이나 tilting 실린더에 공급되는 유량을 최적으로 제어할 수 있게 되는 것이다.Subsequently, as a result of analyzing the frequency, when a change in the load applied to the work machine is detected, the electric joystick controller converts the output signal into a Vp-p voltage or pulse count method according to the analyzed frequency and receives a command signal from the electric joystick. In consideration of this, by controlling the proportional control valve to optimally control the flow rate supplied to the lifting or tilting cylinder of the work machine according to the detected load variation (S320, S330). For reference, the Vp-p voltage means the peak value of the 12 volt output of the alternator.
In summary, when the load fluctuates in the engine, the engine speed decreases, and at this time, the output signal of the mounted alternator occurs. Therefore, if the joystick controller converts and counts it, the correlation between the load variation and the frequency can be detected. After that, it is possible to optimally control the flow rate supplied to the lifting or tilting cylinder by controlling the output current sent to the proportional control valve by linking the function and the frequency set in the software algorithm inside the controller.

이상에서 설명한 바와 같이, 전기 조이스틱이 적용된 엔진지게차의 부하변동에 따른 유량 제어 방법은 작업기에 인가되는 부하의 변동에도 불구하고 작업의 제어성을 향상시키고 급작스런 부하변동에 따른 엔진이 멈추는 것을 방지함으로써 작업의 안정성과 효율성을 향상시키면서 유량 부족으로 인한 오동작을 방지할 수 있다. 한편, 본 발명은 상술한 실시예에 한정되지 않고 기술적 사상을 벗어나지 않는 범위내에서 당업자에 의해 전기 조이스틱이 적용된 엔진지게차 분야에서 다양하게 활용하거나 응용할 수 있다. As described above, the flow control method according to the load change of the engine forklift to which the electric joystick is applied improves the controllability of the work despite the load change applied to the work machine and prevents the engine from being stopped due to the sudden load change. It is possible to prevent malfunction due to insufficient flow rate while improving the stability and efficiency of the system. On the other hand, the present invention is not limited to the above-described embodiment and can be used or applied in various applications in the field of engine forklift truck to which the electric joystick is applied by those skilled in the art without departing from the technical spirit.

Claims (1)

전기 조이스틱이 적용된 엔진지게차에서 부하변동에 따라 유량을 제어하는 방법에 있어서, In the method of controlling the flow rate according to the load fluctuation in the engine forklift to which the electric joystick is applied, 엔진의 회전수에 비례하여 발생되는 0~12V의 사인파 펄스 출력신호의 주파수를 분석하되 작업기에 인가되는 부하변동을 감지하는 단계; 및 Analyzing the frequency of the sine wave pulse output signal of 0 ~ 12V generated in proportion to the number of revolutions of the engine while detecting the load variation applied to the working machine; And 부하변동이 감지되면 출력신호를 분석된 주파수에 따라 Vp-p 전압 혹은 펄스 카운트(Pulse count) 방식으로 변환하고, 전기 조이스틱의 지령신호와 연계하여 작업기의 리프팅(lifting)이나 틸팅(tilting) 실린더에 공급되는 유량을 제어하는 단계를 포함한 것을 특징으로 하는 전기 조이스틱이 적용된 엔진지게차의 부하변동에 따른 유량 제어 방법. When a load change is detected, the output signal is converted into Vp-p voltage or pulse count method according to the analyzed frequency, and it is connected to the lifting or tilting cylinder of the working machine in connection with the command signal of the electric joystick. Flow rate control method according to the load change of the engine forklift truck is applied, characterized in that it comprises the step of controlling the flow rate supplied.
KR1020030097507A 2003-12-26 2003-12-26 Method to control oil according to variance of load on engine powered lift truck KR101023377B1 (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10311302A (en) * 1997-05-09 1998-11-24 Shimadzu Corp Hydraulic device for cargo handling vehicle
JPH11201106A (en) * 1998-01-14 1999-07-27 Toyota Autom Loom Works Ltd Flow rate control device for hydraulic cylinder

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10311302A (en) * 1997-05-09 1998-11-24 Shimadzu Corp Hydraulic device for cargo handling vehicle
JPH11201106A (en) * 1998-01-14 1999-07-27 Toyota Autom Loom Works Ltd Flow rate control device for hydraulic cylinder

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