CN114291766B - Method for improving micro-motion driving feeling of industrial vehicle - Google Patents
Method for improving micro-motion driving feeling of industrial vehicle Download PDFInfo
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- CN114291766B CN114291766B CN202111559178.6A CN202111559178A CN114291766B CN 114291766 B CN114291766 B CN 114291766B CN 202111559178 A CN202111559178 A CN 202111559178A CN 114291766 B CN114291766 B CN 114291766B
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Abstract
The invention belongs to the technical field of forklifts, in particular to a method for improving micro-driving feel of an industrial vehicle, which comprises the following steps: s1, when a vehicle runs, firstly starting a inching working condition processing module to judge the inching working condition of the vehicle; s2, when the actual rotating speed is smaller than a given speed threshold, when the target rotating speed is smaller than the given speed threshold and when the absolute value of Iq is smaller than the absolute value of the PI integral value and smaller than the given speed threshold, judging that the working condition at the moment is in the inching working condition together, and the invalid integral value is accumulated to a certain degree; compared with the prior art, the method does not need to increase PI parameter gain and reduces the risk of amplifying low-speed loop noise; the acceleration rate is not required to be reduced, and the driving experience is not required to be changed; the anti-integral saturation algorithm is not excessively considered and modified, the control performance is affected, the driving working condition is indirectly judged through the visual variable, the integral term is correspondingly cut, the proportional coefficient K is further adjusted, the principle is clear, and the effect is obvious.
Description
Technical Field
The invention belongs to the technical field of forklift driving, and particularly relates to a method for improving micro-motion driving feeling of an industrial vehicle.
Background
The forklift is an industrial carrying vehicle, and is a wheeled carrying vehicle for loading and unloading, stacking and short-distance transportation of finished pallet cargoes, a forklift weighing system is designed and developed for moving and weighing, the system integrates carrying and weighing of cargoes, carrying and weighing are completed at one time, waste caused by extra empty driving is avoided, time is saved to the greatest extent, working efficiency is improved, and micro-motion is realized: the vehicle is under the working condition of low speed and short starting and stopping process.
Chinese patent No. CN2012800014094 provides a forklift and a jog control method for the forklift, which can perform jog control suitable for the operation and travel unique to the forklift. A inching rate calculation unit calculates a inching rate corresponding to the inching operation amount, a target engine speed calculation unit calculates a target engine speed corresponding to the acceleration operation amount, a modulation control unit sets a time constant of the inching rate based on a speed difference between the target engine speed and the actual engine speed, and outputs a corrected inching rate in which the time constant is set, a multiplication unit outputs a corrected absorption torque obtained by multiplying a target absorption torque by the corrected inching rate, and an HST pump electromagnetic proportional control output current conversion unit outputs a current command value corresponding to the corrected absorption torque to a pump capacity setting unit.
In industrial vehicle applications, vehicle jog performance is one aspect of great concern to customers. When the accelerator is quickly rotated to the bottom and then quickly restored to zero, the accelerator handle inputs a rotating speed step signal to the vehicle. It is required that the vehicle is able to respond/act correctly each time during this condition and no other anomalies occur.
When the load of the vehicle is very large, the speed is not necessarily required to follow the instruction in a very short time due to the limitation of the bandwidth of the speed loop, and the result is that the integral term of the speed loop is accumulated continuously after each inching. Until the inching times are large, the integration accumulation is large enough, and the vehicle can run at a slow speed all the time without stopping.
The reason for this is that errors accumulate in the integral term each time the vehicle jogs, but the speed of returning the integral is not fast enough, resulting in a final accumulation of the integral that is too large, and the vehicle remains in a "run away" condition during long-time returning of the integral.
Disclosure of Invention
Aiming at the problems, the invention provides a method for improving the micro-driving feel of an industrial vehicle, which uses a simpler method to indirectly judge the driving working condition through visual variables, and then carries out corresponding reduction operation on integral items, thereby having clear principle and obvious effect.
In order to achieve the above purpose, the present invention provides the following technical solutions: an industrial vehicle micro-motion driving feeling improving method comprises the following steps:
s1, when a vehicle runs, firstly starting a inching working condition processing module to judge the inching working condition of the vehicle;
s2, when the actual rotating speed is smaller than a given speed threshold, when the target rotating speed is smaller than the given speed threshold, and when the absolute value of Iq is smaller than the absolute value of the PI integral value and the absolute value of the PI integral value is smaller than the given speed threshold, judging that the working condition at the moment is in the inching working condition together, and the invalid integral value is accumulated to a certain degree;
s3, after judging the inching working condition, starting to reduce a rotating speed loop integral term, reciprocally multiplying the rotating speed loop integral term by a proportionality coefficient K, and linearly reducing the output value of rotating speed loop integral so that the rotating speed loop integral term cannot be accumulated to a maximum value every time;
s4, when one of the judging conditions of the inching working conditions is not matched, the inching working condition processing module is exited;
the device comprises a vehicle body, wherein a cab is arranged at the top of the vehicle body, a steering wheel is arranged in the cab, a inching pedal is arranged at the bottom of the steering wheel, and a loop regulator is arranged in the vehicle body;
a portal frame is arranged on one side of the vehicle body, a sliding beam is connected inside the portal frame in a sliding manner, a hydraulic telescopic rod is arranged at the bottom of the portal frame, the output end of the hydraulic telescopic rod is fixedly connected with the bottom of the sliding beam, a fork head is arranged on one side of the sliding beam, and a pressure sensor is arranged at the top of the fork head and used for detecting the pressure value of the top of the fork head;
the bottom of the car body is rotationally connected with a driving shaft, wheels are arranged on two sides of the driving shaft, and a pavement judging device is arranged on the surface of each wheel.
Compared with the prior art, the invention has the following beneficial effects:
the application provides an industrial vehicle inching driving feeling improvement method, when the actual rotating speed is smaller than a given speed threshold, when the target rotating speed is smaller than the given threshold, and when the absolute value of Iq is smaller than the absolute value of a PI integral value and smaller than the given threshold, the three conditions jointly judge that the working condition is under the inching working condition, and an invalid integral value is accumulated to a certain degree, after judging the inching working condition, a reduction rotating speed loop integral term is started, the rotating speed loop integral term is multiplied by a proportionality coefficient K in a reciprocating mode, the output value of rotating speed loop integral is linearly reduced, and the rotating speed loop integral term cannot be accumulated to a maximum value each time; compared with the prior art, the method does not need to increase PI parameter gain and reduces the risk of amplifying low-speed loop noise; the acceleration rate is not required to be reduced, and the driving experience is not required to be changed; the control performance is affected without excessively considering and modifying the anti-integral saturation algorithm, the driving working condition is indirectly judged through visual variables, and then the integral term is correspondingly cut down, so that the principle is clear and the effect is obvious.
According to the method, through mutual matching of components such as the inching pedal, the fork head, wheels, the pressure sensor and the road surface judging device, the problem of judging and adjusting inching conditions of a vehicle is solved together, when the vehicle runs, the gravity of goods at the top of the fork head is detected through the pressure sensor, road surface conditions are judged through the road surface judging device, the friction force of the vehicle under the road surface is obtained, the proportion coefficient K is obtained through combining the friction force, meanwhile, when the vehicle is positioned on different road surfaces, iq given threshold values of the vehicle can change, and accordingly, the actual rotating speed given threshold values of the vehicle can change when the vehicle is on a slope, whether the vehicle enters the inching conditions is judged through comparing absolute values of the actual rotating speed, the target rotating speed and Iq smaller than the absolute value of PI integral values with the given threshold values, the loop regulator obtains the optimal integral output value, running stability of the vehicle under inching conditions is guaranteed, judgment of the inching conditions is carried out on the vehicle under different conditions, the integral output value is further adjusted, stability and durability under the inching conditions is further guaranteed, the adaptive range of the vehicle is improved, and the adaptive capacity is improved.
Drawings
FIG. 1 is a flow chart of the present application;
FIG. 2 is a schematic diagram of the software logic of the present application;
FIG. 3 is an integral system clipping module of the present application;
FIG. 4 is a jog non-stop condition of the present application;
fig. 5 is a schematic structural view of the forklift of the present application;
fig. 6 is a schematic cross-sectional diagram of a forklift of the present application.
Reference numerals: 1. a vehicle body; 2. a cab; 3. a roof; 4. a driver's seat; 5. a steering wheel; 6. a jog pedal; 7. a door frame; 8. a sliding beam; 9. a fork head; 10. a hydraulic telescopic rod; 11. a drive shaft; 12. and (3) a wheel.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First embodiment
As shown in fig. 1-4, a method for improving the inching feel of an industrial vehicle, in which vehicle inching performance is one aspect of great concern to customers. When the accelerator is quickly screwed to the bottom and then quickly restored to zero, the accelerator handle inputs a rotating speed step signal to the vehicle, so that the vehicle can accurately respond to actions each time under the working condition, and no other abnormal conditions occur.
As shown in fig. 4, (1) the curve corresponds to the rotational speed command, (2) the curve corresponds to the rotational speed actual, (3) the command represents the integrated value, and (4) the integral represents the Iq command.
When the load of the vehicle is large, the speed is not necessarily limited by the bandwidth of the speed loop, the speed cannot follow the instruction in extremely short time, and the result is that after each inching, the integral items of the speed loop are continuously accumulated until the inching times are more, and after the integral accumulation is large enough, the vehicle can run at a low speed all the time without stopping even if the accelerator is released to the zero position.
The reason for this is that errors accumulate in the integral term each time the vehicle jogs, but the speed of returning the integral is not fast enough, resulting in a final accumulation of the integral that is too large, and the vehicle remains in a "run away" condition during long-time returning of the integral. This problem needs to be solved.
Prior art 1: increasing the speed loop bandwidth, or decreasing the slope of the speed command rise, improves the speed follow-up effect, thereby reducing the integral, but: 1. increasing the low speed rotation speed loop bandwidth may amplify loop noise; 2. reducing the speed command acceleration can affect the dynamic driving feel of the vehicle; 3. the following effect increases, and the accumulation of the integral is only weakened, but the situation that the accumulation of the integral is overlarge finally occurs.
Prior art 2: there are many methods for preventing integral saturation, but the integral saturation needs to be triggered to a threshold value for the integral saturation to act, and the integral saturation is often far away from the condition that inching is not stopped.
Both of the above methods have certain effects, but also have respective limitations.
In the case of heavy-duty inching, the situation that the rotating speed cannot be immediately followed by an instruction is common, but the side effect caused by integration accumulation generated under the working condition needs to be solved.
The invention can judge whether the working condition is in the inching state or not through indirect factors such as current, instruction-current rotating speed, integral quantity and the like.
And after the working condition judgment is successful, the integral term in the loop regulator PI is linearly reduced immediately so as to prevent invalid accumulation of integral every time, and when one of the working condition judgment conditions is not matched, the inching working condition processing module is exited.
Thus, in similar working conditions such as zero-speed braking and normal rising speed, the regulator is normally controlled and has no influence on inching processing logic.
The method comprises the following steps:
s1, when the vehicle runs, the inching working condition processing module is started to judge the inching working condition of the vehicle, the vehicle can be conveniently controlled subsequently through the judgment of the inching working condition of the vehicle, and the operation driving feeling of the vehicle is further improved.
S2, when the actual rotating speed is smaller than a given speed threshold, when the target rotating speed is smaller than the given speed threshold, when the absolute value of Iq is smaller than the absolute value of the PI integral value and the absolute value of the PI integral value is smaller than the given speed threshold, judging that the working condition at the moment is in the inching working condition together, and the invalid integral value is accumulated to a certain degree, wherein the three judging states that the working condition at the moment is in the inching working condition when all the three judging states exist, and the vehicle continues to run under the inching working condition, the invalid integral value can influence the operability of the vehicle, so that the actual operation of the vehicle is influenced.
S3, after judging the inching working condition, starting to reduce the rotating speed loop integral term, reciprocally multiplying the rotating speed loop integral term by a proportional coefficient K, and linearly reducing the output value of the rotating speed loop integral so that the rotating speed loop integral term cannot be accumulated to the maximum value every time; the K proportion of the rotating speed loop integral is reduced, so that the magnitude of the rotating speed loop integral can be timely adjusted, the inching out-of-control phenomenon of the vehicle is avoided, and the controllability of the vehicle is improved.
And S4, when one judging condition of the inching working condition is not matched, the inching working condition processing module is exited, and the condition shows that the vehicle is not in an inching state but is in a similar working condition such as zero-speed braking or normal rising speed, and further the normal control of the regulator can be ensured.
The proportional coefficient K is any number between 0 and 1, and is related to the load of the vehicle and the driving road, and because the proportional coefficient K is smaller than 1, after the inching working condition is judged, the numerical value of the integral term of the rotating speed ring is continuously reduced, so that the integral output can be ensured to be linearly reduced, the value can not reach the maximum value all the time, the condition that the vehicle is not stopped when running at a low speed all the time can not occur is avoided, and the operation performance of the vehicle is further improved.
Compared with the prior art, the method does not need to increase PI parameter gain and reduces the risk of amplifying low-speed loop noise; the acceleration rate is not required to be reduced, and the driving experience is not required to be changed; the invention uses a simpler method to indirectly judge the driving working condition through visual variables without considering too much or modifying the anti-integral saturation algorithm so as to influence the control performance, and then carries out corresponding reduction operation on integral items, thereby having clear principle and obvious effect.
Second embodiment
As shown in fig. 5 and 6, a device for improving micro-motion driving feeling of an industrial vehicle comprises a vehicle body 1, wherein a cab 2 is arranged at the top of the vehicle body 1, a steering wheel 5 is arranged in the cab 2, a micro-motion pedal 6 is arranged at the bottom of the steering wheel 5, the micro-motion pedal 6 controls the vehicle to perform micro-motion working conditions, a loop regulator is arranged in the vehicle body 1, the micro-motion working conditions of the vehicle can be judged through the loop regulator, and then whether the vehicle reaches the micro-motion working conditions or not can be obtained at the first time, so that the operation performance of the vehicle is further improved.
One side of automobile body 1 is equipped with portal 7, the inside sliding connection of portal 7 has slide beam 8, the bottom of portal 7 is equipped with hydraulic telescoping rod 10, hydraulic telescoping rod 10's output and slide beam 8's bottom fixed connection, slide beam 8 realizes sliding from top to bottom through hydraulic telescoping rod 10 in portal 7, one side of slide beam 8 is equipped with fork 9, and carry out fork fortune to the goods through fork 9, especially, the vehicle is in fork 9 top when inching, the vehicle is forked the goods to the stack top, fork 9's top is equipped with pressure sensor and is used for detecting the pressure value at its top, detect the pressure value at fork 9 top through pressure sensor and can judge the weight of goods, and combine the weight self-adaptation adjustment proportionality coefficient K of goods, make can adjust vehicle inching condition under the rotational speed output value according to actual conditions, stability and durability under the further improvement vehicle inching condition.
The bottom of automobile body 1 rotates and is connected with drive shaft 11, and the both sides of drive shaft 11 are equipped with wheel 12, and the surface of wheel 12 is equipped with the road surface judgement ware, and steering wheel 5 can go through control drive shaft 11 and then control wheel 12, goes through the fine motion operating mode of fine motion footboard 6 control wheel 12 simultaneously, and wherein the road surface judgement ware can judge the road surface of carrying out of wheel 12 to combine road surface adjustment proportionality coefficient K, make it possess different numerical values under different road surface circumstances, further improve stability and maneuverability under the fine motion operating mode of vehicle.
The cab 2 further comprises a cab 4, the cab 4 is located at the top of the vehicle body 1, the top of the cab 4 is provided with a roof 3, the cab 4 improves driving comfort of a driver, and the roof 3 can protect the driver and improve driving safety performance of the driver.
One side of the wheel 12 is provided with a threaded rod, and the other end of the threaded rod is in threaded connection with the driving shaft 11 through a fixed disc, so that the detachability of the wheel 12 is realized, and the running trafficability of the vehicle is further improved.
The inboard of portal 7 is equipped with the spout, and the both sides of slide beam 8 are equipped with the slider, slider and spout sliding connection improve the stability of slide beam 8 through slider and spout, avoid taking place to break away from and then cause the incident with portal 7 under long-time service condition slide beam 8.
The road surface judgement ware includes acceleration sensor, wireless transceiver module and vibration generator, and the data that acceleration sensor detected utilizes the wireless communication of 2.4GHz frequency band to send the analytical equipment who sets up on the vehicle, then judges road surface situation through analytical equipment, can in time acquire the condition on road surface bottom road surface of wheel 12 through the road surface judgement ware to combine the road surface condition to acquire the numerical value that needs to adjust proportionality coefficient K under the actual running fine motion operating mode of vehicle, and then improve the judgement accuracy at the fine motion operating mode, guarantee the stability that the vehicle was gone.
The loop regulator electrically controls all electrical elements, the loop regulator comprises a inching working condition processing module, the inching working condition processing module judges inching working conditions through given-actual rotating speed, current value and integral value, the output end of the inching working condition processing module is electrically connected with an inching pedal 6, the actual running condition of the forklift is judged through a pressure sensor and a road surface judging device, the signal is transmitted to the loop regulator, whether the vehicle is in the inching condition is judged through the loop regulator, and the proportionality coefficient K is further regulated, so that the rotating speed output does not exceed the maximum value, and the situation that the vehicle is not stopped when the vehicle is slowly running can not occur.
When the hydraulic telescopic rod is used, a driver operates the driving shaft 11 to rotate through the steering wheel 5 in the cab 2, so that the wheels 12 are controlled to run, the fork head 9 is inserted into goods, the hydraulic telescopic rod 10 is started to drive the sliding beam 8 to slide in the door frame 7, and then the fork head 9 is driven to lift so as to drive the goods to lift for fork transportation.
The weight of goods is detected by the pressure sensor at the top of the fork 9, and then the detection value is transmitted to the loop regulator, when the forklift runs on the road, the road surface judgment device at the bottom of the wheel 12 judges the road condition, the friction force of the wheel 12 is obtained by combining the product of the weight value of the goods detected by the pressure sensor and the dead weight of the forklift, the size of the proportion coefficient K is adaptively regulated according to the friction force, when the forklift is jogged, namely when the actual rotating speed of the vehicle is smaller than a given threshold value, when the target rotating speed of the vehicle is smaller than the given threshold value, and when the absolute value of Iq is smaller than the absolute value of the PI integral value and is smaller than the given threshold value, the vehicle is judged to be a jogging working condition, at the moment, the loop regulator obtains the integral output value by multiplying the integral term of the rotating speed loop integral term by the proportion coefficient K, and meanwhile, the condition that the vehicle continuously runs without stopping under the jogging working condition is further realized due to the change of the proportion coefficient K along with the change of the friction force.
When the vehicle runs on different roads, the road surface judging device judges the road surface, and then the proportional coefficient K is regulated by combining the pressure sensor, meanwhile, as the given threshold value of Iq can change when the vehicle runs on different roads, correspondingly, in order to ensure the stability of the vehicle under the inching working condition on different roads, the given threshold value of Iq can be further regulated and changed along with the judgment of the road surface by the road surface judging device, when the absolute value of Iq is smaller than the absolute value of the PI integral value and smaller than the regulated given threshold value, and other two conditions are met, the vehicle carries out inching working condition, the loop regulator controls the inching pedal 6 to start to drive the vehicle to enter the inching working condition, and the integral output value is obtained by multiplying the speed loop integral item by the new proportional coefficient K, so that the inching working condition out of control of the vehicle is further avoided.
When the vehicle is on an inclined slope, the friction force is reduced along with the increase of the inclination degree of the slope because the pressure value detected by the pressure sensor is reduced and the reduced coefficient value is related to the inclination degree of the slope, and the corresponding proportion coefficient K of the vehicle is synchronously changed.
However, when the vehicle enters the inching working condition on the slope, the action of the downward component force along the slope needs to be overcome, so that in order to ensure that the vehicle can stably perform the inching working condition on the slope, the actual rotating speed of the vehicle in actual use is larger than that of a smooth road surface, the given rotating speed threshold value set by the corresponding loop regulator needs to be correspondingly increased, so that the stability of the vehicle on the slope can be ensured, and when the actual rotating speed of the vehicle on the slope is larger than the given rotating speed threshold value after the regulation and the rest two judging conditions are met, the vehicle is indicated to enter the inching working condition, the loop regulator controls the inching pedal 6 to start so as to regulate the inching working condition of the vehicle, and similarly, the proportionality coefficient K also changes along with the change of the pressure value detected by the pressure sensor of the vehicle under the slope condition.
The numerical value of the proportional coefficient K is further adjusted through judging the inching working condition of the vehicle under different conditions, so that the integral output value is not larger than the set threshold value, the stability and durability of the vehicle under the inching condition are further guaranteed, the self-adaptive adjusting capacity of the vehicle is improved, and the application range and the environment learning capacity are enlarged.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An industrial vehicle micro-motion driving feeling improving method is characterized by comprising the following steps:
s1, when a vehicle runs, firstly starting a inching working condition processing module to judge the inching working condition of the vehicle;
s2, when the actual rotating speed is smaller than a given speed threshold, when the target rotating speed is smaller than the given speed threshold, and when the absolute value of Iq is smaller than the absolute value of the PI integral value and the absolute value of the PI integral value is smaller than the given speed threshold, judging that the working condition at the moment is in the inching working condition together, and the invalid integral value is accumulated to a certain degree;
s3, after judging the inching working condition, starting to reduce a rotating speed loop integral term, reciprocally multiplying the rotating speed loop integral term by a proportionality coefficient K, and linearly reducing the output value of rotating speed loop integral so that the rotating speed loop integral term cannot be accumulated to a maximum value every time;
and S4, when one judging condition of the inching working condition is not matched, exiting the inching working condition processing module.
2. The method for improving the micro-motion driving feeling of an industrial vehicle according to claim 1, wherein the proportionality coefficient K is any number between 0 and 1, and the proportionality coefficient is related to the load of the vehicle and the condition of the driving road.
3. An apparatus for improving the micro-motion driving feeling of an industrial vehicle, which is suitable for the method for improving the micro-motion driving feeling of the industrial vehicle as set forth in claim 1, and comprises a vehicle body, and is characterized in that a cab is arranged at the top of the vehicle body, a steering wheel is arranged in the cab, a micro-motion pedal is arranged at the bottom of the steering wheel, and a loop regulator is arranged in the vehicle body;
a portal frame is arranged on one side of the vehicle body, a sliding beam is connected inside the portal frame in a sliding manner, a hydraulic telescopic rod is arranged at the bottom of the portal frame, the output end of the hydraulic telescopic rod is fixedly connected with the bottom of the sliding beam, a fork head is arranged on one side of the sliding beam, and a pressure sensor is arranged at the top of the fork head and used for detecting the pressure value of the top of the fork head;
the bottom of the car body is rotationally connected with a driving shaft, wheels are arranged on two sides of the driving shaft, and a pavement judging device is arranged on the surface of each wheel.
4. The apparatus for improving a micro-motion driving feeling of an industrial vehicle according to claim 3, wherein the cab further comprises a driver's seat provided on a roof of a vehicle body, and a roof is provided on the roof of the driver's seat.
5. A device for improving the micro-motion driving feeling of an industrial vehicle according to claim 3, wherein one side of the wheel is provided with a threaded rod, and the other end of the threaded rod is in threaded connection with a driving shaft through a fixed disc.
6. The device for improving the micro-motion driving feeling of the industrial vehicle according to claim 3, wherein a sliding groove is arranged on the inner side of the portal frame, sliding blocks are arranged on two sides of the sliding beam, and the sliding blocks are in sliding connection with the sliding groove.
7. The apparatus for improving a micro-driving feeling of an industrial vehicle according to claim 3, wherein the road surface determiner comprises an acceleration sensor, a wireless transceiver module and a vibration generator, and the data detected by the acceleration sensor is transmitted to an analyzing apparatus provided on the vehicle by wireless communication in a 2.4GHz band, and then the road surface condition is determined by the analyzing apparatus.
8. The apparatus for improving the inching driving feeling of an industrial vehicle according to claim 3, wherein the loop regulator electrically controls each electrical component, the loop regulator comprises an inching condition processing module, the inching condition processing module judges the inching condition by giving-an actual rotation speed, a current value and an integral value, and an output end of the inching condition processing module is electrically connected with an inching pedal.
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