Comprehensive ramp stopping and sliding control system applicable to electric forklift

Abstract

The invention discloses a comprehensive ramp stopping and sliding control system applicable to an electric forklift. The system comprises control steps as follows: when a speed detection unit detectsthat the speed of the vehicle is zero, a torque evaluation unit calculates the current torque; when the torque is larger than a set threshold, a ramp staying control unit is triggered, and the vehicleis stopped on a ramp by electric brake of a motor; when the electric brake time of the vehicle exceeds ramp stopping time, the system actively switches to a ramp sliding control unit; the torque evaluation unit calculates the current torque, when the torque is smaller than the preset threshold, the vehicle is regarded to be located on the flat ground, the system actively quits the ramp sliding state, the vehicle is stopped on the flat ground, the torque is smaller than the preset threshold, and the normal working mode returns. The system enters the ramp stopping program by brake instead of anexternal trigger signal. A motor controller stops the motor through closed-loop control to automatically adapt to different ramps. Therefore, formulation of different PI tables for different ramps can be avoided. Stability and safety in the ramp sliding process are realized by adding ramp sliding speed setting items and speed closed loop.

Description

technical field [0001] The invention relates to the field of control systems for electric forklifts, in particular to a comprehensive control system for parking and sliding slopes suitable for electric forklifts. Background technique [0002] With the development of society, especially the advancement of science and technology, it has greatly promoted the rapid development of social productivity; especially the acceleration of industrialization and informationization has increased the driving force for social progress; among them, new energy is the main The application of electric forklifts is becoming more and more extensive. [0003] Due to the wide application of electric forklifts, the applicable environment is becoming more and more complex; the typical climbing environment is more common. During the climbing process of the electric vehicle, the electric forklift is on the slope. Due to the negligence of the operator or the need for work safety, the vehicle needs to st...

AI Technical Summary

Problems solved by technology

There are following deficiencies in the above-mentioned prior art: first, because of the difference of the ramp, different PI parameters need to be queried

This will make on-site calibration more difficult, and it is necessary to formulate different PI parameters for different slopes

However, the slope value in the actual working condition is a continuous value, and when we formulate the table, there are some discrete points, which are not continuous, which will cause difficulties in project realization

Second, the final effect of the above-mentioned prior art is to stop the vehicle on the ramp by means of standing on the slope. In this way, in the application environment of the forklift, due to the heavy weight of the vehicle itself, the motor current required to stand still on the ramp is relatively large, often exceeding The rated current of the motor

[0006] At the same time, most of the existing strategies are based on torque control, which will cause different slopes, and the driving speed is uncertain, resulting in inconvenient calibration

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