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Industrial vehicle dynamic performance improvement method

A dynamic performance, industrial vehicle technology, applied in the direction of motor generator control, electromechanical brake control, electromechanical transmission device control, etc., can solve the problems of slow response, different response speeds of forklifts, and the feedforward effect is not optimal, etc., to achieve Reduce the burden, improve the current response curve, and optimize the effect of driving experience

Pending Publication Date: 2022-04-12
河南嘉晨智能控制股份有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, when the integral term in the regulator is very large, or even reaches the saturation point, this feedforward method cannot help the controller quickly de-integrate, so the response speed of the final output will still be slow due to the slow de-integration speed, making the forward Feedback is not functioning optimally
[0005] Moreover, under different loads and different driving conditions of the forklift, the forklift needs to add the feedforward value to different positions, and the response speed of the forklift is also different.

Method used

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  • Industrial vehicle dynamic performance improvement method
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Examples

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Effect test

no. 1 example

[0032] Such as figure 1 As shown in Fig. 1, a method for improving the dynamic performance of industrial vehicles, the traditional current command feed-forward given method is connected in parallel to the output terminal of the PI regulator in a biased manner.

[0033] Current command feedforward is a commonly used compensation method in the control loop. According to the load characteristics, it can be roughly divided into two types: acceleration feedforward and friction force feedforward. At present, a large number of literatures focus on the calculation of feedforward value. How to effectively give this problem is relatively rare, so if the above problems are solved, the effect of feedforward can be maximized.

[0034] In the speed-current double-closed-loop motor control system, in order to improve the speed response speed, it is often implemented by adding current command feedforward. The addition method is directly added to the output terminal of the PI regulator in the ...

no. 2 example

[0054] Combined with the actual use scenarios of industrial vehicles such as forklifts, since forklifts need to work forward with loads during driving, in the case of different road surfaces and loads, the forklifts need to set the feed-forward value during the actual braking process. The method is different. The control system in the forklift can further judge the saturation degree of the integral item by judging the load on the road surface, and then control the direction of adding the feedforward value, so as to obtain the optimal response result and improve the forklift driving. actual driving comfort.

[0055] An industrial forklift, which is suitable for the method for improving the dynamic performance of an industrial vehicle provided in the first embodiment, includes a forklift, the front end of the forklift is provided with a fork, and the top of the fork is provided with a weight sensor for detecting The weight of the fork.

[0056] Specifically, the position of the...

no. 3 example

[0061] It can be seen from the second embodiment that when the load of the forklift reaches the set threshold, the feedforward value needs to be directly added to the integral item, so as to ensure that the accumulation of the negative feedforward value in the integral item can offset / reduce the original There is an integral value, which is equivalent to the effect of fast withdrawal of the integral, and it also increases the response speed of the current command. However, if the forklift’s load reaches the set threshold, but the driving condition of the forklift is poor, the road condition will affect the forklift. Apply a certain amount of braking force to ensure that the forklift can quickly withdraw points. If the method of adding the feedforward value is still judged only by the load value of the forklift, it will affect the actual driving situation, and further affect the braking force and driving experience of the vehicle. make an impact.

[0062] Both the front end and...

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Abstract

The invention belongs to the technical field of dynamic performance of forklifts, and particularly relates to an industrial vehicle dynamic performance improvement method which comprises the following steps: S1, at the beginning moment of a dynamic process, sampling an integral value of a current regulator and keeping the integral value as a calculation reference; s2, according to the load condition, giving an experience feed-forward calculation gain M1, and calculating a feed-forward value needing to be compensated; s3, determining a slope to be given by the feedforward, calculating a given differential fraction M2 and integral adding time according to the size and the calculation period of the slope, and taking an output M3 of a condition criterion as an integral switching signal of an integral time switch; s4, the feed-forward size is equal to M1 * sampling and holding integral; when the feed-forward differential frequency M2 is equal to 4 and 1ms is taken as a calculation period, the feed-forward can be averagely given and completed within 4ms; s5, when the integral calculation value is greater than M2, the integral switch is switched off to stop integral; according to the method, the given feedforward mode is changed, so that the response speed of an instruction is increased while the given feedforward solves the problem of fast deintegration.

Description

technical field [0001] The invention belongs to the technical field of dynamic performance of forklifts, in particular to a method for improving the dynamic performance of industrial vehicles. Background technique [0002] Dynamic performance refers to the nature, characteristics and functional conditions (performance) of the system in the dynamic process. The two states in the normal operation of the control system are dynamic and steady state. For the fixed value control system, when the control system has no input ( Including disturbance) changes, the whole system finally reaches an equilibrium state, that is, all links in the system do not act temporarily, and the output is relatively static. This state is called a steady state. When the system in a steady state receives a disturbance, the steady state is destroyed. The process between each link starts to act, the output changes, and the next steady state is established is called dynamic. [0003] Chinese invention pate...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/14H02P21/18H02P21/20H02P21/22B66F9/075
Inventor 张筑亚李飞姚欣
Owner 河南嘉晨智能控制股份有限公司
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