Control method for improving low-speed performance of electric forklift based on improved M/T method
A technology of electric forklift and control method, which is applied in the direction of low-speed motor control, electric vehicle, motor parameter estimation/correction, etc., can solve the problems of speed closed-loop influence, influence of speed measurement accuracy, poor customer experience, etc.
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[0019] The said M / T method of the present invention is a kind of velocity measuring method. It adds a capture port on the basis of the M method, and switches to use the T method to measure the motor speed when appropriate.
[0020] see figure 2 , Electric forklift manufacturers supporting incremental encoder with A phase and B phase, the incremental encoder is generally installed on the rotor, the motor rotor rotates a circle will generate a square wave on the A channel and B channel. When the number of motor stages is 1 and the number of encoder lines is 80, 80 square wave pulses will be generated on phase A and phase B respectively in one revolution. Then each pulse corresponds to 360 / 80 degrees. Then the electrical angle of the rotor is also 360 / 80 degrees. The stator electrical angle is the rotor electrical angle plus the slip angle. refer to image 3 Schematic diagram of stator electrical angle calculation. The current existing method is to use the encoder interface...
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