Forklift portal combined action control method and control system

Abstract

The invention discloses a combined action control method and system for a forklift gantry, and is used for the field of forklift action control. The control method comprises the steps that the main action opening degree O1 of a control handle, the auxiliary action opening degree O2 of the control handle and the rotating speed n of an oil pump motor are obtained; according to the active action opening O1 of the control handle, the active action opening o1 of the multi-way valve is obtained, and the active action flow q1 is calculated according to the active action opening o1; the real-time maximum pump flow Q and the real-time maximum auxiliary action flow q = Q-q1 are calculated according to the rotating speed n of the oil pump motor; the auxiliary action opening o2 of the multi-way valve is obtained according to the auxiliary action opening O2 of the control handle, and the auxiliary action flow q2 is calculated according to the auxiliary action opening o2; and when the auxiliary action flow q2 is smaller than or equal to the real-time maximum auxiliary action flow q, the multi-way valve is controlled to reach the auxiliary action opening o2, and otherwise, the multi-way valve is controlled to reach the auxiliary action opening o2'corresponding to the real-time maximum auxiliary action flow q. Therefore, the flow required by the actuator can be prevented from exceeding the real-time maximum pump flow, and the problem of pump flow saturation is avoided.

Description

technical field [0001] The invention relates to the technical field of motion control of forklift masts, and more specifically, relates to a method for controlling joint motions of forklift masts. In addition, the invention also discloses a forklift mast joint action control system applying the above-mentioned forklift mast joint action control method. Background technique [0002] At present, when a large-tonnage electric forklift performs a mast joint action including at least two actions, the action speed is completely determined by the opening of the joystick, resulting in the multi-way valve for pre-valve compensation and the common use of pre-valve compensation and post-valve compensation. All the way valves will have the problem of passive self-distribution of system flow according to external load. [0003] When the external load is passively distributed by itself, the system flow will first meet the demand of the actuator with a small load, thereby affecting the in...

AI Technical Summary

Problems solved by technology

[0002] At present, when a large-tonnage electric forklift performs a mast joint action including at least two actions, the action speed is completely determined by the opening of the joystick, resulting in the multi-way valve for pre-valve compensation and the common use of pre-valve compensation and post-valve compensation. There will be a problem that the system flow will be distributed passively according to the external load.

[0003] When the external load is passively distributed by itself, the system flow will first meet the demand of the actuator with a small load, thereby affecting the index performance of the actuator with a large load. In severe cases, the problem of pump flow saturation will occur and cause vibration in the dynamic change of the compensator , noise and other issues

Images