Speed ​​control methods for forklifts and forklifts

A speed control and forklift technology, applied in the field of forklift and forklift speed control, can solve the problems of poor driving experience and tracking error of forklift

Active Publication Date: 2021-11-02
HUNAN SANY INTELLIGENT CONTROL EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, the deficiency in the related art is that the tracking error between the actual speed and the reference speed always exists, which leads to poor driving experience of the forklift during acceleration or deceleration

Method used

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  • Speed ​​control methods for forklifts and forklifts
  • Speed ​​control methods for forklifts and forklifts
  • Speed ​​control methods for forklifts and forklifts

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0043] like figure 1 As shown, this embodiment provides a speed control method for a forklift, including:

[0044] Step S102, at the operating speed v of the forklift 运行 From the current running speed v 当前运行 Change to the target operating speed v 目标运行 During the process, according to the actual speed v of the forklift 实际 with reference velocity v 参考 difference of v 实际 -v 参考 , for the reference velocity v 参考 Take control.

[0045]It should be noted that before starting the forklift, it is necessary to select an appropriate speed mode according to the load of the forklift, that is, select the maximum speed of the full throttle in this forklift operating mode. Wherein, the value of the speed variable in different operation modes is different, which can be customized by the user.

[0046] In this embodiment, the traveling process of the forklift is controlled by an accelerator pedal and a brake pedal. Among them, the operating speed of the forklift v 运行 From the current...

Embodiment 2

[0049] This embodiment provides a method for controlling the speed of a forklift. In addition to the technical features of Embodiment 1 above, this embodiment further includes the following technical features.

[0050] According to the actual speed v of the forklift 实际 with reference velocity v 参考 The difference of the reference velocity v 参考 The control specifically includes: determining the difference v 实际 -v 参考 Less than or equal to the first difference threshold, the control reference speed v 参考 Decrease; or determine the difference v 实际 -v 参考 Greater than the first difference threshold and less than or equal to the second difference threshold, the control reference speed v 参考 remain unchanged; or determine the difference v 实际 -v 参考 Greater than the second difference threshold and less than or equal to the third difference threshold, the control reference speed v 参考 raised.

[0051] actual speed v 实际 and reference velocity v 参考 There is often a static differenc...

Embodiment 3

[0055] This embodiment provides a method for controlling the speed of a forklift. In addition to the technical features of any of the above embodiments, this embodiment further includes the following technical features.

[0056] In execution according to the actual speed v of the forklift 实际 with reference velocity v 参考 difference of v 实际 -v 参考 , for the reference velocity v 参考 After the control, the speed control method of the forklift also includes: determining the reference speed v 参考 Greater than the throttle speed v of the forklift 油门 , will refer to the velocity v 参考 Decrease to throttle speed v 油门 ; or determine the reference speed v 参考 Less than or equal to the throttle speed v of the forklift 油门 , will refer to the velocity v 参考 stay the same.

[0057] The purpose of this embodiment is to 油门 , while for the reference velocity v 参考 Make reasonable adjustments to better plan the driving speed of the forklift, thereby improving the driving experience of the f...

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PUM

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Abstract

The invention provides a forklift and a speed control method of the forklift. The speed control method of the forklift includes: during the process of changing the running speed of the forklift from the current running speed to a target running speed, controlling the reference speed according to the difference between the actual speed of the forklift and a reference speed. The present invention can reduce or avoid the tracking error between the actual speed of the forklift and the reference speed, and improve the poor driving experience of the forklift during acceleration or deceleration.

Description

technical field [0001] The invention relates to the technical field of vehicle engineering, in particular to a forklift and a speed control method of the forklift. Background technique [0002] The forklift is provided with an accelerator pedal and a brake pedal. The acceleration of the forklift can be controlled through the accelerator pedal, and the deceleration and braking of the forklift can be controlled through the brake pedal. Due to the different road conditions and loads of the forklift, the actual speed of the forklift may not reach the target speed during the actual acceleration or deceleration of the forklift. [0003] In order to match the actual speed of the forklift with the target speed, one of the solutions in related technologies is: control the forklift to adjust the speed with a fixed slope, when the actual speed is between the real-time reference speed and the final target speed, Assign the actual speed to the real-time reference speed. When the actual ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W40/105B66F9/075
CPCB60W40/105B60W2300/121B66F9/07572
Inventor 廖钢强但汉兵谢燕朋
Owner HUNAN SANY INTELLIGENT CONTROL EQUIP
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