A forklift gantry joint action control method and control system

Abstract

The invention discloses a forklift gantry joint action control method and a control system, which are used in the field of forklift action control. The control method includes: acquiring a main action opening O1 of a joystick, an auxiliary action opening O2 of the joystick, and an oil pump motor Speed ​​n; obtain the main action opening o1 of the multi-way valve according to the main action opening O1 of the joystick, and calculate the main action flow q1 accordingly; calculate the real-time maximum pump flow Q and real-time maximum auxiliary action flow q according to the oil pump motor speed n = Q‑q1; obtain the auxiliary action opening o2 of the multi-way valve according to the auxiliary action opening O2 of the joystick, and calculate the auxiliary action flow q2 accordingly; when the auxiliary action flow q2 ≤ the real-time maximum auxiliary action flow q, control the multi-way valve to Auxiliary action opening o2, on the contrary, control the multi-way valve to 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 a forklift gantry, in particular to a method for controlling the joint motion of a forklift gantry. In addition, the present invention also discloses a forklift gantry joint action control system applying the above-mentioned forklift gantry joint action control method. Background technique [0002] At present, when the large-tonnage electric forklift performs the joint action of the gantry including at least two actions, the action speed is completely determined by the opening degree of the joystick, which leads to the multi-way valve for pre-valve compensation, and the common use of pre-valve compensation and post-valve compensation. There is a problem that the system flow is passively self-distributed according to the external load. [0003] When the external load is passively self-distributed, the system flow will give priority to meet the needs of the actuator with small load, which...

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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

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