A field-weakening control method for traveling motors of electric forklifts
A technology for electric forklifts and walking motors, applied in the direction of motor generator control, electronic reversing motor control, control systems, etc., can solve problems such as limited charging power, danger, and short-term rise in battery voltage, so as to improve user comfort and improve Operational security, algorithms to achieve easy results
Active Publication Date: 2019-04-09
凡己科技(苏州)有限公司
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Problems solved by technology
Due to the limited charging power of the battery, when the deceleration is too fast, the generated electric energy cannot be absorbed by the battery in time, which will cause the battery voltage to rise temporarily
The rise of the battery voltage will interfere with the calculation results of the field weakening regulator, causing the excitation current to fluctuate, and at the same time affect the electromagnetic torque of the motor, causing the speed to fluctuate
When the degree is mild, it will affect the driving comfort of the vehicle; when the degree is serious, it will cause the forklift to be unable to effectively control for a short time, resulting in danger
Method used
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[0023] The technical solutions in the embodiments of the invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the invention. Obviously, the described embodiments are only part of the embodiments of the invention, not all of them. Based on the embodiments of the invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the invention.
[0024] like Figure 1-2 As shown, in the embodiment of the present invention, a field weakening control method for the traveling motor of an electric forklift includes the following steps:
[0025] Step 1: Set the battery voltage to V s , when the electric forklift is in the non-walking state, that is, the motor is not running, the measured battery reference voltage is V s,base ;
[0026] Step 2: When the electric forklift is in the walking state, that is, the motor is running, measur...
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The invention discloses a field-weakening control method for a traveling motor of an electric forklift. The field-weakening control method comprises the steps of setting a battery voltage to be Vs, and measuring a battery reference voltage as V<s, base> when the electric forklift is in a non-traveling state, namely the motor is not running. The field-weakening control method is based on a per-unit value analysis method, modifies an original maximum voltage setting mode into a real-time adjustment voltage setting mode through analyzing a resource of torque ripples, avoids the occurrence of the phenomenon that large torque ripple is generated when a bus voltage fluctuates because the traditional regulator per-unit set value adopts a fixed value through modifying an regulator per-unit set value dynamically, changes a voltage regulator from static adjustment into dynamic adjustment so as to reduce the influence of the battery voltage fluctuation on a field-weakening regulator, reduces the torque ripples, improves the usage comfort of the electric forklift, and improves operational safety; in addition, the field-weakening control method has small algorithm calculation load, does not need to change hardware design, and can avoid the potential out-of-control risk.
Description
technical field [0001] The invention relates to the technical field of motor field weakening control, in particular to a field weakening control method for a travel motor of an electric forklift. Background technique [0002] The induction motor runs in the constant power region at high speed. Due to the limited battery voltage, the induction motor needs to adopt field weakening control at this time. The traditional field weakening control needs to add an additional voltage closed loop and PI regulator to realize it. [0003] The feedback of the PI regulator is the stator voltage that needs to be provided; the given of the PI regulator is the maximum value of the stator voltage that can be provided at the current moment, which is usually set as a constant value. When implemented in the processor, the given value is a digital quantity in per unit value mode, and usually the value is set to the maximum to obtain the maximum voltage utilization. [0004] When the electric fork...
Claims
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IPC IPC(8): H02P21/22H02P21/05H02P21/00
CPCH02P21/0003H02P21/05
Inventor 孟凡己李宇虹
Owner 凡己科技(苏州)有限公司