CN118991459B - Forklift longitudinal acceleration control method, device and electronic equipment - Google Patents
Forklift longitudinal acceleration control method, device and electronic equipment Download PDFInfo
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- CN118991459B CN118991459B CN202411470154.7A CN202411470154A CN118991459B CN 118991459 B CN118991459 B CN 118991459B CN 202411470154 A CN202411470154 A CN 202411470154A CN 118991459 B CN118991459 B CN 118991459B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
- B60L2200/42—Fork lift trucks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/14—Acceleration
- B60L2240/16—Acceleration longitudinal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2250/00—Driver interactions
- B60L2250/26—Driver interactions by pedal actuation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a forklift longitudinal acceleration control method, device and electronic equipment, which comprise the steps of obtaining operation parameters of a forklift, calculating actual longitudinal acceleration, actual longitudinal impact and motor torque request values according to the operation parameters, calculating acceleration error values according to acceleration extreme values and actual longitudinal acceleration, searching target longitudinal impact according to the acceleration error values, calculating impact error values according to the target longitudinal impact and the actual longitudinal impact, searching target motor torque demand increment according to the impact error values, calculating motor limit torque request values based on acceleration limit according to the target motor torque demand increment and motor real-time torque, determining current motor limit torque request values according to the motor limit torque request values based on acceleration limit and the motor torque request values, and controlling longitudinal acceleration of a controlled forklift based on the current motor limit torque request values. The technology can avoid safety hazard caused by excessive acceleration.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a forklift longitudinal acceleration control method, a forklift longitudinal acceleration control device and electronic equipment.
Background
The limit requirements on the highest running speed of the forklift are different according to different using places (such as indoor, outdoor, warehouse, wharf and the like) of the forklift. Further, the limit requirements for the highest travel speed are different due to different cargo weights, lifting heights, turning radii. The highest running speed of the forklift is related to the power mode, one of the 3-4 power modes can be selected, and the highest speed limit and the maximum longitudinal acceleration limit corresponding to different power modes are different and unique.
In the prior art, the longitudinal running acceleration of the forklift is controlled by the driver stepping on the accelerator pedal, and the prior art relies on subjective judgment and personal ability of the driver, so that the safety risk of the forklift running exists.
Disclosure of Invention
The invention aims to provide a forklift longitudinal acceleration control method, a forklift longitudinal acceleration control device and electronic equipment, so that the technical problem that the prior art relies on subjective judgment and personal ability of a driver, so that the safety risk of forklift running exists is solved, and the safety of forklift running is improved.
In a first aspect, an embodiment of the present invention provides a method for controlling longitudinal acceleration of a forklift, which is applied to a controller; the controller is arranged on a controlled forklift, the controlled forklift is in a running state, the method comprises the steps of obtaining real-time running speed, motor real-time torque and accelerator pedal opening of the controlled forklift, calculating actual longitudinal acceleration and actual longitudinal impact of the controlled forklift according to the real-time running speed, calculating a motor torque request value according to the accelerator pedal opening, calculating an acceleration error value according to a preset acceleration extremum and the actual longitudinal acceleration, searching a target longitudinal impact corresponding to the acceleration error value from a preset first table according to the acceleration error value, constructing a first table based on experimental longitudinal impact corresponding to the experimental acceleration error value and the experimental acceleration error value, calculating an impact error value according to the target longitudinal impact and the actual longitudinal impact, searching a target motor torque request increment of the controlled forklift corresponding to the impact error value from a preset second table according to the impact error value, constructing a current request value based on the experimental acceleration error value and the motor impact error value, constructing a current request value based on the experimental motor torque request value and the current limited torque, and obtaining a current limited torque based on the current limited torque request value based on the experimental torque request value and the current limited torque request value, and controlling the longitudinal acceleration of the controlled forklift.
In a preferred embodiment of the invention, the method comprises the steps of acquiring the experimental longitudinal impact degree corresponding to the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value, drawing the first table according to the corresponding relation between the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental acceleration error value, and finding the controlled target motor torque demand increment corresponding to the impact degree error value from the second table according to the impact degree error value, wherein the first table is used for acquiring the experimental longitudinal impact degree corresponding to the experimental acceleration error value, drawing the first table according to the corresponding relation between the experimental impact degree error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value, and drawing the experimental torque demand increment corresponding to the experimental torque demand increment according to the experimental impact degree error value.
In a preferred embodiment of the present invention, the step of searching for the target longitudinal impact corresponding to the acceleration error value from a preset first table according to the acceleration error value includes searching for the target longitudinal impact corresponding to the acceleration error value from the first table according to the acceleration error value based on a single linear interpolation table, and searching for the target motor torque demand increment of the controlled forklift corresponding to the impact error value from a preset second table according to the impact error value, including searching for the target motor torque demand increment of the controlled forklift corresponding to the impact error value from the second table according to the impact error value based on the single linear interpolation table.
In a preferred embodiment of the present invention, the step of determining the current motor limit torque request value based on the acceleration limit-based motor limit torque request value and the motor torque request value includes determining a minimum value between the acceleration limit-based motor limit torque request value and the motor torque request value as the current motor limit torque request value.
In a preferred embodiment of the present invention, the step of calculating the actual longitudinal acceleration and the actual longitudinal impact of the controlled forklift according to the real-time traveling speed includes calculating a first derivative and a second derivative of the real-time traveling speed to obtain a first derivative result and a second derivative result, determining the first derivative result as the actual longitudinal acceleration, and determining the second derivative result as the actual longitudinal impact.
In a preferred embodiment of the present invention, the step of calculating the impact error value based on the target longitudinal impact and the actual longitudinal impact includes obtaining the impact error value by subtracting the target longitudinal impact and the actual longitudinal impact.
In a preferred embodiment of the present invention, the step of calculating the motor limit torque request value based on the acceleration limitation according to the target motor torque request increment and the motor real-time torque includes calculating the target motor torque request increment and the motor real-time torque summation to obtain the motor limit torque request value based on the acceleration limitation.
In a preferred embodiment of the invention, the controller is connected with a motor controller of the controlled forklift, a position sensor is arranged on an accelerator pedal of the controlled forklift, and the step of acquiring the motor real-time torque and the accelerator pedal opening of the controlled forklift comprises the steps of reading the motor real-time torque from the motor controller and acquiring the accelerator pedal opening based on the position sensor.
In a second aspect, an embodiment of the present invention provides a forklift longitudinal acceleration control device, which is applied to a controller; the device comprises a data acquisition module, a data processing module, a motor torque request value, an inquiry module, a motor torque request value and an increment limiting module, wherein the controller is arranged on a controlled forklift, the controlled forklift is in a running state, the device comprises a data acquisition module, the data acquisition module is used for acquiring real-time running speed of the controlled forklift, real-time motor torque and accelerator pedal opening, the data processing module is used for calculating actual longitudinal acceleration and actual longitudinal impact of the controlled forklift according to the real-time running speed, the motor torque request value is calculated according to the accelerator pedal opening, the acceleration error value is calculated according to a preset acceleration extremum and the actual longitudinal acceleration, a target longitudinal impact corresponding to the acceleration error value is searched for from a preset first table according to the acceleration error value, the first table is constructed based on the experimental longitudinal impact corresponding to the experimental acceleration error value, the impact error value is calculated according to the target longitudinal impact and the actual longitudinal impact, the impact error is calculated according to the target longitudinal impact is calculated from a preset second table, the target motor torque request value corresponding to the impact error value is calculated according to the impact error value, the motor torque request value is limited by the motor torque request value is calculated based on the experimental torque limit value and the experimental torque limit motor torque, the experimental torque is limited based on the experimental torque is limited by the experimental torque value and the experimental torque corresponding to the experimental torque error value, and controlling the longitudinal acceleration of the controlled forklift based on the current motor limiting torque request value.
In a third aspect, an embodiment of the present invention provides an electronic device, where the electronic device includes a processor and a memory, where the memory stores computer executable instructions that can be executed by the processor, and where the processor executes the computer executable instructions to implement the method for controlling longitudinal acceleration of a forklift.
The embodiment of the invention has the following beneficial technical effects:
The embodiment of the invention provides a forklift longitudinal acceleration control method, a device and electronic equipment, which are applied to a controller, wherein the controller is arranged on a controlled forklift, the controlled forklift is in a running state, the method comprises the steps of obtaining real-time running speed, real-time motor torque and accelerator pedal opening of the controlled forklift, calculating actual longitudinal acceleration and actual longitudinal impact of the controlled forklift according to the real-time running speed, calculating a motor torque request value according to the accelerator pedal opening, calculating an acceleration error value according to a preset acceleration extremum and the actual longitudinal acceleration, searching a target longitudinal impact corresponding to the acceleration error value from a first table according to the acceleration error value, searching a first table based on the experimental longitudinal impact corresponding to the experimental acceleration error value, calculating an impact error value according to the target longitudinal impact, calculating an impact error value from a second table according to the real-time impact, searching a second table corresponding to the impact error value, obtaining a current request torque, obtaining a torque limit based on the current request torque, and a current request torque limit based on the experimental torque, and controlling the longitudinal acceleration of the controlled forklift. According to the technology, the running parameters of the forklift are monitored and calculated in real time, the motor torque is dynamically adjusted by combining a preset data table, and the acceleration and the impact degree are ensured to be kept within a safe range, so that the accuracy and the safety of forklift control are improved, and the safety hazard caused by excessive acceleration or impact is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a forklift longitudinal acceleration control method according to an embodiment of the present invention;
Fig. 2 is a flow chart of another method for controlling longitudinal acceleration of a forklift according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first table according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a second table according to an embodiment of the present invention;
Fig. 5 is a schematic structural diagram of a forklift longitudinal acceleration control device according to an embodiment of the present invention;
Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
The icons are 31-data acquisition module, 32-data processing module, 33-query module, 34-result output module, 41-memory, 42-processor, 43-bus, 44-communication interface.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
At present, the longitudinal running acceleration of the forklift is controlled by the driver stepping on an accelerator pedal, and the prior art relies on subjective judgment and personal ability of the driver, so that the safety risk of forklift running exists.
Based on the above, the embodiment of the invention provides a forklift longitudinal acceleration control method, a forklift longitudinal acceleration control device and electronic equipment, and the technology dynamically adjusts motor torque by combining a preset data table through real-time monitoring and calculation of the running parameters of the forklift, so that the acceleration and the impact degree are ensured to be kept within a safety range, the accuracy and the safety of forklift control are improved, and the safety hazard caused by excessive acceleration or impact is avoided. In order to facilitate understanding of the present invention, a method for controlling longitudinal acceleration of a forklift is first described.
Example 1
In this embodiment, fig. 1 is a schematic flow chart of a forklift longitudinal acceleration control method according to an embodiment of the present invention.
The method is applied to a controller, the controller is arranged on a controlled forklift, the controlled forklift is in a running state, and as seen in fig. 1, the method comprises the following steps:
And step S101, acquiring the real-time running speed, the real-time torque of the motor and the opening degree of an accelerator pedal of the controlled forklift.
In the embodiment, the controller is connected with a motor controller of the controlled forklift, a position sensor is arranged on an accelerator pedal of the controlled forklift, and the step of acquiring the motor real-time torque and the accelerator pedal opening of the controlled forklift comprises the steps of reading the motor real-time torque from the motor controller and acquiring the accelerator pedal opening based on the position sensor.
And step S102, calculating the actual longitudinal acceleration and the actual longitudinal impact of the controlled forklift according to the real-time running speed, and calculating a motor torque request value according to the opening degree of the accelerator pedal.
In this embodiment, the step of calculating the actual longitudinal acceleration and the actual longitudinal impact of the controlled forklift according to the real-time traveling speed includes calculating a first derivative and a second derivative of the real-time traveling speed to obtain a first derivative result and a second derivative result, determining the first derivative result as the actual longitudinal acceleration, and determining the second derivative result as the actual longitudinal impact.
Step S103, calculating an acceleration error value according to the preset acceleration extreme value and the actual longitudinal acceleration.
In this embodiment, the preset acceleration extremum is preset in the system during each forklift control cycle.
Step S104, searching a target longitudinal impact corresponding to the acceleration error value from a preset first table according to the acceleration error value, wherein the first table is constructed based on the experimental longitudinal impact corresponding to the experimental acceleration error value and the experimental acceleration error value.
Step 105, calculating the impact error value according to the target longitudinal impact and the actual longitudinal impact.
In this embodiment, the step S105 includes obtaining the impact error value by subtracting the target longitudinal impact and the actual longitudinal impact.
And S106, searching a target motor torque demand increment of the controlled forklift corresponding to the impact error value from a preset second table according to the impact error value, and constructing the second table based on the experimental motor torque demand increment corresponding to the experimental impact error value and the experimental impact error value.
And step S107, calculating to obtain a motor limit torque request value based on acceleration limit according to the target motor torque request increment and the motor real-time torque.
In this embodiment, the step S107 includes calculating the target motor torque demand increment and the motor real-time torque sum to obtain a motor limit torque request value based on acceleration limit.
Step S108, determining a current motor limiting torque request value according to the motor limiting torque request value based on the acceleration limit and the motor torque request value.
In the present embodiment, the step S108 includes determining a minimum value between the motor limit torque request value based on the acceleration limit and the motor torque request value as a current motor limit torque request value.
And step S109, controlling the longitudinal acceleration of the controlled forklift based on the current motor limiting torque request value.
The embodiment of the invention provides a forklift longitudinal acceleration control method which is applied to a controller, the controller is arranged on a controlled forklift, the controlled forklift is in a running state, the method comprises the steps of obtaining real-time running speed, real-time motor torque and accelerator pedal opening of the controlled forklift, calculating actual longitudinal acceleration and actual longitudinal impact of the controlled forklift according to the real-time running speed, calculating a motor torque request value according to the accelerator pedal opening, calculating an acceleration error value according to a preset acceleration extreme value and the actual longitudinal acceleration, searching a target longitudinal impact corresponding to the acceleration error value from a preset first table according to the acceleration error value, constructing a first table based on the experimental longitudinal impact corresponding to the experimental acceleration error value, calculating an impact error value according to the target longitudinal impact and the actual longitudinal impact, calculating a target motor torque request of the controlled forklift corresponding to the impact error value from a preset second table according to the impact error value, constructing a current motor torque request value and the current motor torque limit, constructing a current motor torque limit according to the acceleration error value and the current torque limit, constructing a current motor torque limit based on the current torque limit based on the experimental torque limit, and obtaining the current torque limit motor torque limit based on the current torque limit based on the experimental torque limit value and the experimental torque limit based on the experimental torque, and controlling the longitudinal acceleration of the controlled forklift. According to the technology, the running parameters of the forklift are monitored and calculated in real time, the motor torque is dynamically adjusted by combining a preset data table, and the acceleration and the impact degree are ensured to be kept within a safe range, so that the accuracy and the safety of forklift control are improved, and the safety hazard caused by excessive acceleration or impact is avoided.
Example 2
On the basis of the embodiment, the embodiment of the invention provides another forklift longitudinal acceleration control method.
The method is applied to a controller, the controller is arranged on a controlled forklift, the controlled forklift is in a running state, and as seen in fig. 2, the method comprises the following steps:
step S201, acquiring the real-time running speed, the real-time torque of a motor and the opening degree of an accelerator pedal of the controlled forklift;
And step S202, calculating the actual longitudinal acceleration and the actual longitudinal impact of the controlled forklift according to the real-time running speed, and calculating a motor torque request value according to the opening degree of the accelerator pedal.
Step S203, calculating an acceleration error value according to the preset acceleration extreme value and the actual longitudinal acceleration.
Step S204, searching a target longitudinal impact corresponding to the acceleration error value from the first table according to the acceleration error value based on a single linear interpolation value table lookup mode, wherein the first table is constructed based on experimental longitudinal impact corresponding to the experimental acceleration error value and the experimental acceleration error value.
Step S205, calculating an impact error value according to the target longitudinal impact and the actual longitudinal impact.
Step S206, searching the target motor torque demand increment of the controlled forklift corresponding to the impact error value from the second table based on the single linear interpolation value table, and constructing the second table based on the experimental motor torque demand increment corresponding to the experimental impact error value and the experimental impact error value.
In the embodiment, the method comprises the steps of obtaining the experimental longitudinal impact degree corresponding to the experimental acceleration error value and the experimental acceleration error value, drawing the first table according to the corresponding relation between the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value, drawing the experimental motor torque demand increment corresponding to the experimental impact degree error value, and finding the experimental motor torque demand increment corresponding to the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value from a second table according to the experimental impact degree error value, wherein the first table is used for finding the target motor torque demand increment corresponding to the experimental acceleration error value from the second table according to the experimental impact degree error value.
For ease of understanding, fig. 3 is a schematic diagram of a first table provided in an embodiment of the present invention, and fig. 4 is a schematic diagram of a second table provided in an embodiment of the present invention.
As can be seen from fig. 3 and 4, the first table and the second table are both schematic diagrams.
The abscissa of FIG. 3 is the experimental acceleration error value in m/s 2, and the ordinate is the experimental target longitudinal impact in m/s 3.
Further, the abscissa of fig. 4 is the experimental jerk error value in m/s 2, and the ordinate is the experimental motor torque demand increment in n×m.
And S207, calculating a motor limit torque request value based on acceleration limit according to the target motor torque request increment and the motor real-time torque.
Step S208, determining a current motor limiting torque request value according to the motor limiting torque request value based on the acceleration limit and the motor torque request value.
And step S209, controlling the longitudinal acceleration of the controlled forklift based on the current motor limiting torque request value.
The embodiment of the invention provides a forklift longitudinal acceleration control method which is applied to a controller, the controller is arranged on a controlled forklift, the controlled forklift is in a running state, the method comprises the steps of obtaining real-time running speed of the controlled forklift, real-time motor torque and accelerator pedal opening, calculating actual longitudinal acceleration and actual longitudinal impact of the controlled forklift according to the real-time running speed, calculating a motor torque request value according to the accelerator pedal opening, calculating an acceleration error value according to a preset acceleration extremum and the actual longitudinal acceleration, searching a target longitudinal impact corresponding to the acceleration error value from a first table according to the acceleration error value in a single linear interpolation table-look-up mode, constructing the first table based on the experimental longitudinal impact corresponding to the experimental acceleration error value, calculating an impact error value according to the target longitudinal impact and the actual longitudinal impact, calculating an impact error value based on the single linear interpolation table-up mode, searching a motor torque request value from a second table according to the accelerator pedal opening, constructing the motor torque request value corresponding to the experimental torque error value and the target torque request value, constructing the target longitudinal impact corresponding to the experimental torque error value according to the experimental torque table and the experimental torque error, and the experimental torque request value based on the experimental torque is limited according to the target torque error, and the experimental torque is constructed based on the experimental torque error corresponding to the experimental torque error value and the experimental torque limit value, and controlling the longitudinal acceleration of the controlled forklift based on the current motor limiting torque request value. According to the technology, the running parameters of the forklift are monitored and calculated in real time, the motor torque is dynamically adjusted by combining a preset data table, and the acceleration and the impact degree are ensured to be kept within a safe range, so that the accuracy and the safety of forklift control are improved, and the safety hazard caused by excessive acceleration or impact is avoided. In addition, in the debugging and calibrating process, the table can be adjusted according to actual conditions, so that the efficiency of the debugging process is improved.
Example 3
On the basis of the above embodiment, fig. 5 is a schematic structural diagram of a longitudinal acceleration control device for a forklift according to an embodiment of the present invention.
The device is applied to a controller, the controller is arranged on a controlled forklift, the controlled forklift is in a running state, and as seen in fig. 5, the device comprises:
The data acquisition module 31 is configured to acquire the real-time running speed, the real-time torque of the motor, and the accelerator opening of the controlled forklift.
The data processing module 32 is configured to calculate an actual longitudinal acceleration and an actual longitudinal impact of the controlled forklift according to the real-time running speed, calculate a motor torque request value according to the accelerator opening, and calculate an acceleration error value according to a preset acceleration extremum and the actual longitudinal acceleration.
The query module 33 is configured to search a target longitudinal impact corresponding to the acceleration error value from a preset first table according to the acceleration error value, wherein the first table is constructed based on an experimental longitudinal impact corresponding to the experimental acceleration error value and the experimental longitudinal impact corresponding to the experimental acceleration error value, calculate an impact error value according to the target longitudinal impact and the actual longitudinal impact, search a target motor torque demand increment of the controlled forklift corresponding to the impact error value from a preset second table according to the impact error value, and construct the second table based on an experimental motor torque demand increment corresponding to the experimental impact error value and the experimental impact error value.
The result output module 34 is configured to calculate a motor limit torque request value based on acceleration limitation according to the target motor torque request increment and the motor real-time torque, determine a current motor limit torque request value according to the motor limit torque request value based on acceleration limitation and the motor torque request value, and control the longitudinal acceleration of the controlled forklift based on the current motor limit torque request value.
The data acquisition module 31, the data processing module 32, the query module 33 and the result output module 34 are sequentially connected.
In one embodiment, the data obtaining module 31 is further configured to obtain, before the step of constructing the first table based on the experimental longitudinal impact degree corresponding to the experimental acceleration error value, draw the first table according to the corresponding relation between the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value, directly correlate the experimental motor torque demand increment corresponding to the experimental impact degree error value and the experimental impact degree error value, and find, from a preset second table according to the impact degree error value, the experimental motor torque demand increment corresponding to the experimental impact degree error value of the controlled forklift, according to the corresponding relation between the experimental impact degree error value and the experimental impact degree error value.
In one embodiment, the query module 33 is further configured to search the first table for a target longitudinal impact corresponding to the acceleration error value based on a single linear interpolation table, and search the second table for a target motor torque demand increment of the controlled forklift corresponding to the impact error value based on the single linear interpolation table.
In one embodiment, the result output module 34 is further configured to determine a minimum value between the motor torque request value and the motor torque request value based on the acceleration limitation as the current motor torque request value.
In one embodiment, the data processing module 32 is further configured to calculate a first derivative and a second derivative of the real-time driving speed to obtain a first derivative result and a second derivative result, determine the first derivative result as the actual longitudinal acceleration, and determine the second derivative result as the actual longitudinal jerk.
In one embodiment, the query module 33 is further configured to obtain the impact error value by subtracting the target longitudinal impact and the actual longitudinal impact.
In one embodiment, the query module 33 is further configured to calculate the target motor torque demand increment and the motor real-time torque summation to obtain a motor limit torque request value based on the acceleration limit.
In one embodiment, the controller is connected to a motor controller of the controlled forklift, a position sensor is mounted on an accelerator pedal of the controlled forklift, and the data acquisition module 31 is further configured to read the motor real-time torque from the motor controller, and acquire the accelerator pedal opening based on the position sensor.
The forklift longitudinal acceleration control device provided by the embodiment of the invention has the same technical characteristics as the forklift longitudinal acceleration control method provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved. It will be clear to those skilled in the art that, for convenience and brevity of description, reference may be made to the corresponding process in the foregoing method embodiment for the specific working process of the apparatus described above, which is not described herein again.
Example 3
The present embodiment provides an electronic device including a processor and a memory storing computer executable instructions executable by the processor to perform steps of a forklift longitudinal acceleration control method.
The present embodiment provides a computer-readable storage medium in which a computer program is stored which, when executed by a processor, implements the steps of a forklift longitudinal acceleration control method.
Referring to the schematic structural diagram of an electronic device shown in fig. 6, the electronic device includes a memory 41 and a processor 42, wherein a computer program capable of running on the processor 42 is stored in the memory 41, and the processor implements the steps provided by the forklift longitudinal acceleration control method when executing the computer program.
As shown in fig. 6, the device further comprises a bus 43 and a communication interface 44, the processor 42, the communication interface 44 and the memory 41 being connected by the bus 43, the processor 42 being arranged to execute executable modules, such as computer programs, stored in the memory 41.
The memory 41 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is implemented via at least one communication interface 44 (which may be wired or wireless), which may use the internet, a wide area network, a local network, a metropolitan area network, etc.
The bus 43 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 6, but not only one bus or type of bus.
The memory 41 is used for storing a program, and the processor 42 executes the program after receiving an execution instruction, and any of the embodiments of the present invention described above discloses that the method executed by the longitudinal acceleration control device of the forklift may be applied to the processor 42 or implemented by the processor 42. The processor 42 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware or instructions in software in the processor 42. The processor 42 may be a general-purpose processor including a central Processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), a digital signal processor (DIGITAL SIGNAL Processing, DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable GATE ARRAY (FPGA), a discrete gate or transistor logic device, or a discrete hardware component. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 41 and a processor 42 reads information in the memory 41 and in combination with its hardware performs the steps of the method described above.
Further, embodiments of the present invention also provide a machine-readable storage medium storing machine-executable instructions that, when invoked and executed by the processor 42, cause the processor 42 to implement the above-described forklift longitudinal acceleration control method.
The electronic equipment and the computer readable storage medium provided by the embodiment of the invention have the same technical characteristics, so that the same technical problems can be solved, and the same technical effects can be achieved.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected via an intermediate medium, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Claims (8)
1. The forklift longitudinal acceleration control method is characterized by being applied to a controller, wherein the controller is arranged on a controlled forklift, the controlled forklift is in a running state, and the method comprises the following steps:
acquiring the real-time running speed, the real-time torque of a motor and the opening degree of an accelerator pedal of the controlled forklift;
calculating the actual longitudinal acceleration and the actual longitudinal impact of the controlled forklift according to the real-time running speed, and calculating a motor torque request value according to the opening of the accelerator pedal;
calculating an acceleration error value according to a preset acceleration extremum and the actual longitudinal acceleration;
Acquiring an experimental longitudinal impact degree corresponding to an experimental acceleration error value and the experimental acceleration error value, wherein the experimental longitudinal impact degree corresponding to the experimental acceleration error value is positively correlated with the experimental longitudinal impact degree corresponding to the experimental acceleration error value;
Drawing a first table according to the corresponding relation between the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value;
searching a target longitudinal impact corresponding to the acceleration error value from the first table according to the acceleration error value based on a single linear interpolation value table look-up mode;
calculating an impact error value according to the target longitudinal impact and the actual longitudinal impact;
Acquiring an experimental motor torque demand increment corresponding to an experimental impact error value and the experimental impact error value, wherein the experimental impact error value and the experimental motor torque demand increment corresponding to the experimental impact error value are positively correlated;
drawing a second table according to the corresponding relation between the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value;
Searching a target motor torque demand increment of the controlled forklift corresponding to the impact error value from the second table according to the impact error value based on the single linear interpolation value table lookup mode;
according to the target motor torque demand increment and the motor real-time torque, calculating to obtain a motor limit torque demand value based on acceleration limit;
determining a current motor limit torque request value according to the motor limit torque request value based on acceleration limit and the motor torque request value;
and controlling the longitudinal acceleration of the controlled forklift based on the current motor limiting torque request value.
2. The forklift longitudinal acceleration control method of claim 1, wherein the step of determining a current motor limit torque request value from the acceleration limit based motor limit torque request value and the motor torque request value comprises:
and determining the minimum value between the motor limit torque request value based on the acceleration limit and the motor torque request value as a current motor limit torque request value.
3. The forklift longitudinal acceleration control method of claim 1, wherein the step of calculating the actual longitudinal acceleration and the actual longitudinal jerk of the controlled forklift based on the real-time travel speed comprises:
Calculating a first derivative and a second derivative of the real-time running speed to obtain a first derivative result and a second derivative result;
Determining the first derivative result as the actual longitudinal acceleration; and determining the second derivative result as the actual longitudinal impact.
4. The forklift longitudinal acceleration control method of claim 1, wherein the step of calculating an impact error value based on the target longitudinal impact and the actual longitudinal impact, comprises:
And carrying out difference on the target longitudinal impact and the actual longitudinal impact to obtain the impact error value.
5. The method according to claim 1, wherein the step of calculating a motor limit torque request value based on acceleration limit according to the target motor torque request increment and the motor real-time torque comprises:
and calculating the target motor torque demand increment and the motor real-time torque summation to obtain a motor limit torque request value based on acceleration limit.
6. The forklift longitudinal acceleration control method of claim 1, wherein the controller is connected with a motor controller of the controlled forklift, and a position sensor is arranged on an accelerator pedal of the controlled forklift;
The step of obtaining the motor real-time torque and the accelerator pedal opening of the controlled forklift comprises the following steps:
and acquiring the opening degree of the accelerator pedal based on the position sensor.
7. The forklift longitudinal acceleration control device is characterized by being applied to a controller, wherein the controller is arranged on a controlled forklift, the controlled forklift is in a running state, and the device comprises:
the data acquisition module is used for acquiring the real-time running speed, the real-time torque of the motor and the opening of the accelerator pedal of the controlled forklift;
the data processing module is used for calculating the actual longitudinal acceleration and the actual longitudinal impact of the controlled forklift according to the real-time running speed, calculating a motor torque request value according to the opening of the accelerator pedal, and calculating an acceleration error value according to a preset acceleration extremum and the actual longitudinal acceleration;
The query module is used for acquiring the experimental longitudinal impact degree of the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value; the method comprises the steps of obtaining an experimental motor torque demand increment corresponding to an experimental impact error value, drawing a first table according to the corresponding relation between the experimental acceleration error value and the experimental longitudinal impact corresponding to the experimental acceleration error value, searching a target longitudinal impact corresponding to the acceleration error value from the first table based on a single linear interpolation value table form, calculating the impact error value according to the target longitudinal impact and the actual longitudinal impact, obtaining the experimental motor torque demand increment corresponding to the experimental impact error value and the experimental impact error value, drawing a second table according to the corresponding relation between the experimental impact error value and the experimental motor torque demand increment corresponding to the experimental impact error value, and searching the target motor torque demand increment of the controlled forklift corresponding to the impact error value from the second table based on the single linear interpolation value table form;
The result output module is used for calculating and obtaining a motor limiting torque request value based on acceleration limitation according to the target motor torque request increment and the motor real-time torque; determining a current motor limit torque request value according to the motor limit torque request value based on acceleration limit and the motor torque request value; and controlling the longitudinal acceleration of the controlled forklift based on the current motor limiting torque request value.
8. An electronic device comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the forklift longitudinal acceleration control method of any one of claims 1 to 6.
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| DE102014215259A1 (en) * | 2014-08-04 | 2016-02-04 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for automatically selecting a driving mode on a motor vehicle |
| KR102202442B1 (en) * | 2019-11-25 | 2021-01-13 | 현대위아 주식회사 | Torque control Method of 4WD Vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5764656B2 (en) * | 2011-05-11 | 2015-08-19 | 日立オートモティブシステムズ株式会社 | Vehicle motion control device |
| CN105764739B (en) * | 2013-12-02 | 2018-06-29 | 日产自动车株式会社 | The control device of electric vehicle and the control method of electric vehicle |
| KR101919725B1 (en) * | 2015-01-26 | 2018-11-16 | 닛산 지도우샤 가부시키가이샤 | Vehicle control device and vehicle control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE102014215259A1 (en) * | 2014-08-04 | 2016-02-04 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for automatically selecting a driving mode on a motor vehicle |
| KR102202442B1 (en) * | 2019-11-25 | 2021-01-13 | 현대위아 주식회사 | Torque control Method of 4WD Vehicle |
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