Drive control method and device for electric fork truck, and electric fork truck

Abstract

The invention discloses a drive control method and device for an electric fork truck, and the electric fork truck. The method comprises the steps: measuring the rotating speed of a motor of the electric fork truck, obtaining a speed error value according to the rotating speed of the motor and a given speed of an accelerator, and determining a corresponding child fuzzy PI controller according to the speed error value; generating a current torque component given value according to the speed error value, the change rate of the speed error value and the corresponding child fuzzy PI controller; respectively generating a current excitation component difference value and a current torque component difference value according to a current excitation component given value, a current torque component given value, a current excitation component actual value and a current torque component actual value; generating a first stator voltage given value and a second stator voltage given value in a stationary two-phase coordinate system according to the two component difference values; generating multipath PWM output according to the two given values in the stationary two-phase coordinate system, and controlling an inverter to output a three-phase voltage value, so as to control the output torque of the motor.

Description

technical field [0001] The invention relates to the technical field of electric forklifts, in particular to a driving control method and device for an electric forklift and an electric forklift with the driving control device. Background technique [0002] In related technologies, electric forklifts generally use AC asynchronous motors to achieve drive control. However, the speed loop of traditional AC asynchronous motor vector control generally uses a PI regulator. The PI control algorithm in the PI regulator is based on a linear system design. , and the AC asynchronous motor has the characteristics of nonlinearity and strong coupling, which makes the PI control unable to maintain the design performance index, and the robustness is often unsatisfactory; in the process of determining the PI parameter, because the setting value of the PI parameter has A certain local optimal value, rather than a global optimal value, so PI control cannot fundamentally solve the contradiction ...

AI Technical Summary

Problems solved by technology

This method combines the variable structure fuzzy control and the vector control of the AC motor, which not only overcomes the defects of poor robustness and low dynamic precision of the traditional PI control, but also can change the fuzzy control structure according to the different working states of the electric forklift, so that Electric forklifts have better speed regulation performance under different working conditions, which improves the anti-interference ability, accuracy and dynamic response ability of AC asynchronous motors

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