Forklift longitudinal acceleration control method, device and electronic equipment

Abstract

The present invention provides a forklift longitudinal acceleration control method, device and electronic equipment, including: obtaining the operating parameters of the forklift; calculating the actual longitudinal acceleration, the actual longitudinal impact degree and the motor torque request value according to the operating parameters; calculating the acceleration error value according to the acceleration extreme value and the actual longitudinal acceleration; searching for the target longitudinal impact degree according to the acceleration error value; calculating the impact degree error value according to the target longitudinal impact degree and the actual longitudinal impact degree; searching for the target motor torque demand increment according to the impact degree error value; calculating the motor torque request value based on acceleration limit according to the target motor torque demand increment and the motor real-time torque; determining the current motor torque request value according to the motor torque request value based on acceleration limit and the motor torque request value; and controlling the longitudinal acceleration of the controlled forklift based on the current motor torque request value. This technology can avoid safety hazards caused by excessive acceleration.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control, and in particular to a forklift longitudinal acceleration control method, device and electronic equipment. Background Art

[0002] Depending on the location where the forklift is used (such as indoors, outdoors, warehouses, docks, etc.), the maximum speed limit requirements for the forklift are different. Furthermore, due to the difference in cargo weight, lifting height, and turning radius, the maximum speed limit requirements are also different. The maximum speed of the forklift is related to the power mode. You can choose one of 3-4 power modes. Different power modes correspond to different maximum speed limits and maximum longitudinal acceleration limits, which are also unique.

[0003] In the prior art, the longitudinal acceleration of a forklift is controlled by the driver stepping on the accelerator pedal. Since the prior art relies on the subjective judgment and personal ability of the driver, there are safety risks in the driving of the forklift. Summary of the invention

[0004] The purpose of the present invention is to provide a forklift longitudinal acceleration control method, device and electronic equipment to alleviate the technical problem that the above-mentioned prior art relies on the driver's subjective judgment and personal ability, thereby posing a safety risk in forklift driving, thereby improving the safety of forklift driving.

[0005] In a first aspect, an embodiment of the present invention provides a forklift longitudinal acceleration control method, which is applied to a controller; the controller is arranged on a controlled forklift; the controlled forklift is in a driving state; the method comprises: obtaining a real-time driving speed, a real-time torque of a motor and an accelerator pedal opening of the controlled forklift; calculating an actual longitudinal acceleration and an actual longitudinal impact degree of the controlled forklift according to the real-time driving speed; and calculating a motor torque request value according to the accelerator pedal opening; calculating an acceleration error value according to a preset acceleration extreme value and the actual longitudinal acceleration; searching a target longitudinal impact degree corresponding to the acceleration error value from a preset first table according to the acceleration error value; the first table is based on an experimental acceleration error value and an experimental value corresponding to the experimental acceleration error value. The longitudinal impact degree is constructed; the impact degree error value is calculated according to the target longitudinal impact degree and the actual longitudinal impact degree; the target motor torque demand increment of the controlled forklift corresponding to the impact degree error value is found from a preset second table according to the impact degree error value; the second table is constructed based on the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value; the motor limited torque request value based on acceleration limitation is calculated according to the target motor torque demand increment and the real-time torque of the motor; the current motor limited torque request value is determined according to the motor limited torque request value based on acceleration limitation and the motor torque request value; the longitudinal acceleration of the controlled forklift is controlled based on the current motor limited torque request value.

[0006] In a preferred embodiment of the present invention, the above-mentioned experimental acceleration error value is positively correlated with the experimental longitudinal impact degree corresponding to the above-mentioned experimental acceleration error value; the target longitudinal impact degree corresponding to the above-mentioned acceleration error value is searched from a preset first table according to the above-mentioned acceleration error value; before the step of constructing the above-mentioned first table based on the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the above-mentioned experimental acceleration error value, the above-mentioned method includes: obtaining the above-mentioned experimental acceleration error value and the experimental longitudinal impact degree corresponding to the above-mentioned experimental acceleration error value; drawing the above-mentioned first table according to the corresponding relationship between the above-mentioned experimental acceleration error value and the experimental longitudinal impact degree corresponding to the above-mentioned experimental acceleration error value; the above-mentioned experimental impact degree error value is positively correlated with the experimental motor torque demand increment corresponding to the above-mentioned experimental impact degree error value; before the step of searching from a preset second table according to the above-mentioned impact degree error value for the target motor torque demand increment of the above-mentioned controlled forklift corresponding to the above-mentioned impact degree error value, the above-mentioned method includes: obtaining the above-mentioned experimental impact degree error value and the experimental motor torque demand increment corresponding to the above-mentioned experimental impact degree error value; drawing the above-mentioned second table according to the corresponding relationship between the above-mentioned experimental impact degree error value and the experimental motor torque demand increment corresponding to the above-mentioned experimental impact degree error value.

[0007] In a preferred embodiment of the present invention, the step of searching for the target longitudinal impact degree corresponding to the acceleration error value from a preset first table according to the acceleration error value comprises: searching for the target longitudinal impact degree corresponding to the acceleration error value from the first table according to the acceleration error value based on a single linear interpolation value table lookup method; the step of searching for the target motor torque demand increment of the controlled forklift corresponding to the impact degree error value from a preset second table according to the impact degree error value comprises: searching for the target motor torque demand increment of the controlled forklift corresponding to the impact degree error value from the second table according to the impact degree error value based on a single linear interpolation value table lookup method.

[0008] In a preferred embodiment of the present invention, the step of determining the current motor torque limit request value based on the above-mentioned motor torque limit request value based on acceleration limitation and the above-mentioned motor torque request value includes: determining the minimum value between the above-mentioned motor torque limit request value based on acceleration limitation and the above-mentioned motor torque request value as the current motor torque limit request value.

[0009] In a preferred embodiment of the present invention, the step of calculating the actual longitudinal acceleration and the actual longitudinal impact degree of the controlled forklift according to the real-time travel speed includes: calculating the first-order derivative and the second-order derivative of the real-time travel speed to obtain the first-order derivative result and the second-order derivative result; determining the first-order derivative result as the actual longitudinal acceleration; and determining the second-order derivative result as the actual longitudinal impact degree.

[0010] In a preferred embodiment of the present invention, the step of calculating the impact degree error value based on the target longitudinal impact degree and the actual longitudinal impact degree includes: subtracting the target longitudinal impact degree from the actual longitudinal impact degree to obtain the impact degree error value.

[0011] In a preferred embodiment of the present invention, the step of calculating the motor limit torque request value based on acceleration limitation according to the above-mentioned target motor torque demand increment and the above-mentioned motor real-time torque includes: summing the above-mentioned target motor torque demand increment and the above-mentioned motor real-time torque to obtain the motor limit torque request value based on acceleration limitation.

[0012] In a preferred embodiment of the present invention, the controller is connected to the motor controller of the controlled forklift; a position sensor is installed on the accelerator pedal of the controlled forklift; the step of obtaining the real-time torque of the motor and the accelerator pedal opening of the controlled forklift includes: reading the real-time torque of the motor from the motor controller; and obtaining the accelerator pedal opening based on the position sensor.

[0013] In a second aspect, an embodiment of the present invention provides a forklift longitudinal acceleration control device, which is applied to a controller; the controller is arranged on a controlled forklift; the controlled forklift is in a driving state; the device comprises: a data acquisition module, which is used to acquire the real-time driving speed, the real-time torque of the motor and the accelerator pedal opening of the controlled forklift; a data processing module, which is used to calculate the actual longitudinal acceleration and the actual longitudinal impact degree of the controlled forklift according to the real-time driving speed; and, according to the accelerator pedal opening, calculate the motor torque request value; calculate the acceleration error value according to the preset acceleration extreme value and the actual longitudinal acceleration; a query module, which is used to search the target longitudinal impact degree corresponding to the acceleration error value from a preset first table according to the acceleration error value; the first table is based on the experimental acceleration error value and the experimental acceleration The experimental longitudinal impact degree corresponding to the error value is constructed; the impact degree error value is calculated according to the above-mentioned target longitudinal impact degree and the above-mentioned actual longitudinal impact degree; according to the above-mentioned impact degree error value, the target motor torque demand increment of the above-mentioned controlled forklift corresponding to the above-mentioned impact degree error value is found from a preset second table; the above-mentioned second table is constructed based on the experimental impact degree error value and the experimental motor torque demand increment corresponding to the above-mentioned experimental impact degree error value; a result output module is used to calculate the motor limited torque request value based on acceleration limitation according to the above-mentioned target motor torque demand increment and the above-mentioned motor real-time torque; according to the above-mentioned motor limited torque request value based on acceleration limitation and the above-mentioned motor torque request value, the current motor limited torque request value is determined; based on the above-mentioned current motor limited torque request value, the longitudinal acceleration of the above-mentioned controlled forklift is controlled.

[0014] In a third aspect, an embodiment of the present invention provides an electronic device, comprising a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the forklift longitudinal acceleration control method.

[0015] The embodiments of the present invention have the following beneficial technical effects:

[0016] The embodiment of the present invention provides a forklift longitudinal acceleration control method, device and electronic device, which are applied to a controller; the controller is arranged on a controlled forklift; the controlled forklift is in a driving state; the method comprises: obtaining a real-time driving speed, a real-time torque of a motor and an opening of an accelerator pedal of the controlled forklift; calculating an actual longitudinal acceleration and an actual longitudinal impact degree of the controlled forklift according to the real-time driving speed; and calculating a motor torque request value according to the opening of the accelerator pedal; calculating an acceleration error value according to a preset acceleration extreme value and the actual longitudinal acceleration; searching a target longitudinal impact degree corresponding to the acceleration error value from a preset first table according to the acceleration error value; the first table is based on an experimental acceleration error value and a target longitudinal impact degree corresponding to the experimental acceleration error value. The experimental longitudinal impact degree is constructed; the impact degree error value is calculated according to the above target longitudinal impact degree and the above actual longitudinal impact degree; the target motor torque demand increment of the above controlled forklift corresponding to the above impact degree error value is found from the preset second table according to the above impact degree error value; the above second table is constructed based on the experimental impact degree error value and the experimental motor torque demand increment corresponding to the above experimental impact degree error value; the motor torque request value based on acceleration limit is calculated according to the above target motor torque demand increment and the above motor real-time torque; the current motor torque request value is determined according to the above motor torque request value based on acceleration limit and the above motor torque request value; the longitudinal acceleration of the above controlled forklift is controlled based on the above current motor torque request value. This technology monitors and calculates the driving parameters of the forklift in real time, and dynamically adjusts the motor torque in combination with the preset data table to ensure that the acceleration and impact degree are kept within a safe range, thereby improving the accuracy and safety of forklift control and avoiding safety hazards caused by excessive acceleration or impact. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic flow chart of a forklift longitudinal acceleration control method provided by an embodiment of the present invention;

[0019] Figure 2 A schematic flow chart of another forklift longitudinal acceleration control method provided by an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of a first table provided in an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of a second table provided in an embodiment of the present invention;

[0022] Figure 5 A schematic structural diagram of a forklift longitudinal acceleration control device provided by an embodiment of the present invention;

[0023] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0024] Icons: 31 - data acquisition module; 32 - data processing module; 33 - query module; 34 - result output module; 41 - memory; 42 - processor; 43 - bus; 44 - communication interface. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0026] At present, the longitudinal driving acceleration of a forklift is controlled by the driver stepping on the accelerator pedal. Since the above-mentioned prior art relies on the subjective judgment and personal ability of the driver, there is a safety risk in the driving of the forklift.

[0027] Based on this, the embodiment of the present invention provides a forklift longitudinal acceleration control method, device and electronic device. The technology monitors and calculates the driving parameters of the forklift in real time, and dynamically adjusts the motor torque in combination with a preset data table to ensure that the acceleration and impact degree remain within a safe range, thereby improving the accuracy and safety of the forklift control and avoiding safety hazards caused by excessive acceleration or impact. In order to facilitate the understanding of the present invention, a forklift longitudinal acceleration control method is first introduced.

[0028] Example 1

[0029] In this embodiment, Figure 1 A schematic flow chart of a forklift longitudinal acceleration control method provided by an embodiment of the present invention.

[0030] The method is applied to a controller; the controller is arranged on a controlled forklift; the controlled forklift is in a driving state; Figure 1 As can be seen, the above methods include:

[0031] Step S101: obtaining the real-time travel speed, the real-time motor torque and the accelerator pedal opening of the controlled forklift.

[0032] In this embodiment, the controller is connected to the motor controller of the controlled forklift; a position sensor is installed on the accelerator pedal of the controlled forklift; the step of obtaining the real-time torque of the motor and the accelerator pedal opening of the controlled forklift includes: reading the real-time torque of the motor from the motor controller; and obtaining the accelerator pedal opening based on the position sensor.

[0033] Step S102: Calculate the actual longitudinal acceleration and actual longitudinal impact of the controlled forklift according to the real-time travel speed; and calculate the motor torque request value according to the accelerator pedal opening.

[0034] In this embodiment, the step of calculating the actual longitudinal acceleration and the actual longitudinal impact degree of the controlled forklift according to the real-time travel speed includes: calculating the first-order derivative and the second-order derivative of the real-time travel speed to obtain the first-order derivative result and the second-order derivative result; determining the first-order derivative result as the actual longitudinal acceleration; and determining the second-order derivative result as the actual longitudinal impact degree.

[0035] Step S103: Calculate the acceleration error value according to the preset acceleration extreme value and the actual longitudinal acceleration.

[0036] In this embodiment, in each forklift control cycle, the system will pre-set the above-mentioned preset acceleration extreme value.

[0037] Step S104: searching a preset first table for a target longitudinal impact degree corresponding to the acceleration error value according to the acceleration error value; the first table is constructed based on experimental acceleration error values ​​and experimental longitudinal impact degrees corresponding to the experimental acceleration error values.

[0038] Step S105: Calculate the impact degree error value according to the target longitudinal impact degree and the actual longitudinal impact degree.

[0039] In this embodiment, the step S105 includes: subtracting the target longitudinal impact degree from the actual longitudinal impact degree to obtain the impact degree error value.

[0040] Step S106: according to the impact degree error value, searching the target motor torque requirement increment of the controlled forklift corresponding to the impact degree error value from a preset second table; the second table is constructed based on the experimental impact degree error value and the experimental motor torque requirement increment corresponding to the experimental impact degree error value.

[0041] Step S107: Calculate the motor torque limit request value based on acceleration limit according to the target motor torque demand increment and the motor real-time torque.

[0042] In this embodiment, the step S107 includes: calculating and summing the target motor torque demand increment and the motor real-time torque to obtain a motor torque limit request value based on acceleration limit.

[0043] Step S108: determining a current motor limit torque request value according to the motor limit torque request value based on the acceleration limit and the motor torque request value.

[0044] In this embodiment, the step S108 includes: determining the minimum value between the motor torque request value based on acceleration limitation and the motor torque request value as the current motor torque request value.

[0045] Step S109: Based on the current motor limit torque request value, the longitudinal acceleration of the controlled forklift is controlled.

[0046] The embodiment of the present invention provides a forklift longitudinal acceleration control method, which is applied to a controller; the controller is arranged on a controlled forklift; the controlled forklift is in a driving state; the method comprises: obtaining a real-time driving speed, a real-time torque of a motor and an opening of an accelerator pedal of the controlled forklift; calculating an actual longitudinal acceleration and an actual longitudinal impact degree of the controlled forklift according to the real-time driving speed; and calculating a motor torque request value according to the opening of the accelerator pedal; calculating an acceleration error value according to a preset acceleration extreme value and the actual longitudinal acceleration; searching a target longitudinal impact degree corresponding to the acceleration error value from a preset first table according to the acceleration error value; the first table is based on an experimental acceleration error value and an experimental longitudinal impact degree corresponding to the experimental acceleration error value. The impact degree is constructed; the impact degree error value is calculated according to the target longitudinal impact degree and the actual longitudinal impact degree; the target motor torque demand increment of the controlled forklift corresponding to the impact degree error value is searched from the preset second table according to the impact degree error value; the second table is constructed based on the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value; the motor torque request value based on acceleration limit is calculated according to the target motor torque demand increment and the real-time torque of the motor; the current motor torque request value is determined according to the motor torque request value based on acceleration limit and the motor torque request value; the longitudinal acceleration of the controlled forklift is controlled based on the current motor torque request value. This technology monitors and calculates the driving parameters of the forklift in real time, and dynamically adjusts the motor torque in combination with the preset data table to ensure that the acceleration and impact degree are kept within a safe range, thereby improving the accuracy and safety of forklift control and avoiding safety hazards caused by excessive acceleration or impact.

[0047] Example 2

[0048] Based on the above embodiment, an embodiment of the present invention provides another method for controlling longitudinal acceleration of a forklift.

[0049] The method is applied to a controller; the controller is arranged on a controlled forklift; the controlled forklift is in a driving state; Figure 2 As can be seen, the above methods include:

[0050] Step S201: obtaining the real-time travel speed, motor real-time torque and accelerator pedal opening of the controlled forklift;

[0051] Step S202: Calculate the actual longitudinal acceleration and actual longitudinal impact of the controlled forklift according to the real-time travel speed; and calculate the motor torque request value according to the accelerator pedal opening.

[0052] Step S203: Calculate the acceleration error value according to the preset acceleration extreme value and the actual longitudinal acceleration.

[0053] Step S204: Based on the single linear interpolation value lookup table method, according to the acceleration error value, find the target longitudinal impact degree corresponding to the above acceleration error value from the above first table; the above first table is constructed based on the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the above experimental acceleration error value.

[0054] Step S205: Calculate the impact degree error value according to the target longitudinal impact degree and the actual longitudinal impact degree.

[0055] Step S206: Based on the above-mentioned single linear interpolation value lookup table method, according to the above-mentioned impact degree error value, find the target motor torque demand increment of the above-mentioned controlled forklift corresponding to the above-mentioned impact degree error value from the above-mentioned second table; the above-mentioned second table is constructed based on the experimental impact degree error value and the experimental motor torque demand increment corresponding to the above-mentioned experimental impact degree error value.

[0056] In the present embodiment, the experimental acceleration error value is positively correlated with the experimental longitudinal impact degree corresponding to the experimental acceleration error value; the target longitudinal impact degree corresponding to the acceleration error value is searched from a preset first table according to the acceleration error value; before the step of constructing the first table based on the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value, the method includes: obtaining the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value; drawing the first table according to the correspondence between the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value; the experimental impact degree error value is positively correlated with the experimental motor torque demand increment corresponding to the experimental impact degree error value; before the step of searching from a preset second table according to the impact degree error value for the target motor torque demand increment of the controlled forklift corresponding to the impact degree error value, the method includes: obtaining the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value; drawing the second table according to the correspondence between the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value.

[0057] For ease of understanding, Figure 3 A schematic diagram of a first table provided in an embodiment of the present invention; Figure 4 A schematic diagram of a second table provided by an embodiment of the present invention.

[0058] By the above Figure 3 and Figure 4 It can be seen that the first table and the second table are both curve diagrams.

[0059] in, Figure 3 The horizontal axis is the experimental acceleration error value, and its unit is m / s 2 , the ordinate is the longitudinal impact strength of the experimental target, and its unit is m / s 3 .

[0060] Furthermore, Figure 4 The horizontal axis is the experimental impact error value, and its unit is m / s 2 , the vertical axis is the torque requirement increment of the experimental motor, and its unit is N*m.

[0061] Step S207: Calculate the motor torque limit request value based on acceleration limit according to the target motor torque demand increment and the motor real-time torque.

[0062] Step S208: Determine a current motor limit torque request value according to the motor limit torque request value based on the acceleration limit and the motor torque request value.

[0063] Step S209: Based on the current motor limit torque request value, the longitudinal acceleration of the controlled forklift is controlled.

[0064] The embodiment of the present invention provides a forklift longitudinal acceleration control method, which is applied to a controller; the controller is arranged on a controlled forklift; the controlled forklift is in a driving state; the method comprises: obtaining a real-time driving speed, a real-time torque of a motor and an opening of an accelerator pedal of the controlled forklift; calculating an actual longitudinal acceleration and an actual longitudinal impact degree of the controlled forklift according to the real-time driving speed; and calculating a motor torque request value according to the opening of the accelerator pedal; calculating an acceleration error value according to a preset acceleration extreme value and the actual longitudinal acceleration; searching a target longitudinal impact degree corresponding to the acceleration error value from the first table according to the acceleration error value based on a single linear interpolation value lookup table method; the first table is based on an experimental acceleration error value and an experimental longitudinal impact degree corresponding to the experimental acceleration error value. The impact degree is constructed; the impact degree error value is calculated according to the above target longitudinal impact degree and the above actual longitudinal impact degree; based on the above single linear interpolation value table lookup method, according to the above impact degree error value, the target motor torque demand increment of the above controlled forklift corresponding to the above impact degree error value is found from the above second table; the above second table is constructed based on the experimental impact degree error value and the experimental motor torque demand increment corresponding to the above experimental impact degree error value; according to the above target motor torque demand increment and the above motor real-time torque, the motor limit torque request value based on acceleration limit is calculated; according to the above motor limit torque request value based on acceleration limit and the above motor torque request value, the current motor limit torque request value is determined; based on the above current motor limit torque request value, the longitudinal acceleration of the above controlled forklift is controlled. This technology monitors and calculates the driving parameters of the forklift in real time, and dynamically adjusts the motor torque in combination with the preset data table to ensure that the acceleration and impact degree are kept within the safe range, thereby improving the accuracy and safety of the forklift control and avoiding safety hazards caused by excessive acceleration or impact. In addition, during the debugging and calibration process, the above table can be adjusted according to actual conditions to increase the efficiency of the debugging process.

[0065] Example 3

[0066] Based on the above embodiments, Figure 5 A schematic structural diagram of a forklift longitudinal acceleration control device provided by an embodiment of the present invention.

[0067] The device is applied to a controller; the controller is arranged on a controlled forklift; the controlled forklift is in a driving state; Figure 5 As can be seen, the above-mentioned device includes:

[0068] The data acquisition module 31 is used to acquire the real-time travel speed, the real-time torque of the motor and the accelerator pedal opening of the above-mentioned controlled forklift.

[0069] The data processing module 32 is used to calculate the actual longitudinal acceleration and the actual longitudinal impact degree of the controlled forklift according to the real-time driving speed; and calculate the motor torque request value according to the accelerator pedal opening; and calculate the acceleration error value according to the preset acceleration extreme value and the actual longitudinal acceleration.

[0070] The query module 33 is used to search for the target longitudinal impact degree corresponding to the acceleration error value from a preset first table according to the acceleration error value; the first table is constructed based on the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value; the impact degree error value is calculated according to the target longitudinal impact degree and the actual longitudinal impact degree; according to the impact degree error value, the target motor torque demand increment of the controlled forklift corresponding to the impact degree error value is searched from a preset second table; the second table is constructed based on the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value.

[0071] The result output module 34 is used to calculate the motor limit torque request value based on acceleration limitation according to the above-mentioned target motor torque demand increment and the above-mentioned motor real-time torque; determine the current motor limit torque request value according to the above-mentioned motor limit torque request value based on acceleration limitation and the above-mentioned motor torque request value; and control the longitudinal acceleration of the above-mentioned controlled forklift based on the above-mentioned current motor limit torque request value.

[0072] Among them, the data acquisition module 31, the data processing module 32, the query module 33 and the result output module 34 are connected in sequence.

[0073] In one embodiment, the experimental acceleration error value is positively correlated with the experimental longitudinal impact degree corresponding to the experimental acceleration error value; the data acquisition module 31 is also used for obtaining the experimental longitudinal impact degree corresponding to the experimental acceleration error value before the step of constructing the first table based on the experimental acceleration error value and the experimental acceleration error value. The method includes: obtaining the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value; drawing the first table according to the correspondence between the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value; the experimental impact degree error value is positively correlated with the experimental motor torque demand increment corresponding to the experimental impact degree error value; before the step of searching the target motor torque demand increment of the controlled forklift corresponding to the impact degree error value from the preset second table according to the impact degree error value, obtaining the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value; drawing the second table according to the correspondence between the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value.

[0074] In one embodiment, the query module 33 is further used to search for the target longitudinal impact degree corresponding to the acceleration error value from the first table based on the single linear interpolation table lookup according to the acceleration error value; and search for the target motor torque demand increment of the controlled forklift corresponding to the impact degree error value from the second table based on the single linear interpolation table lookup according to the impact degree error value.

[0075] In one implementation manner, the result output module 34 is further configured to determine the minimum value between the motor torque request value based on acceleration limitation and the motor torque request value as the current motor torque request value.

[0076] In one embodiment, the data processing module 32 is further used to calculate the first-order derivative and the second-order derivative of the real-time driving speed to obtain the first-order derivative result and the second-order derivative result; determine the first-order derivative result as the actual longitudinal acceleration; and determine the second-order derivative result as the actual longitudinal impact degree.

[0077] In one embodiment, the query module 33 is further configured to obtain the impact error value by subtracting the target longitudinal impact degree from the actual longitudinal impact degree.

[0078] In one embodiment, the query module 33 is further configured to calculate the sum of the target motor torque demand increment and the motor real-time torque to obtain a motor torque limit request value based on acceleration limit.

[0079] In one embodiment, the controller is connected to the motor controller of the controlled forklift; a position sensor is installed on the accelerator pedal of the controlled forklift; the data acquisition module 31 is also used to read the real-time torque of the motor from the motor controller; and obtain the accelerator pedal opening based on the position sensor.

[0080] The forklift longitudinal acceleration control device provided in the embodiment of the present invention has the same technical features as the forklift longitudinal acceleration control method provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the device described above can refer to the corresponding process in the above method embodiment, and will not be repeated here.

[0081] Example 3

[0082] This embodiment provides an electronic device, including a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the steps of the forklift longitudinal acceleration control method.

[0083] This embodiment provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the forklift longitudinal acceleration control method are implemented.

[0084] See also Figure 6 The structure diagram of an electronic device shown in the figure includes: a memory 41 and a processor 42. The memory 41 stores a computer program that can be run on the processor 42. When the processor executes the computer program, the steps provided by the forklift longitudinal acceleration control method are implemented.

[0085] like Figure 6 As shown, the device further includes: a bus 43 and a communication interface 44, a processor 42, a communication interface 44 and a memory 41 are connected via the bus 43; the processor 42 is used to execute executable modules stored in the memory 41, such as computer programs.

[0086] The memory 41 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 44 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0087] The bus 43 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0088] Among them, the memory 41 is used to store the program, and the processor 42 executes the program after receiving the execution instruction. The method performed by the forklift longitudinal acceleration control device disclosed in any embodiment of the present invention can be applied to the processor 42, or implemented by the processor 42. The processor 42 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 42. The above processor 42 can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present invention can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 41, and the processor 42 reads the information in the memory 41 and completes the steps of the above method in combination with its hardware.

[0089] Furthermore, an embodiment of the present invention also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by the processor 42, the machine-executable instructions prompt the processor 42 to implement the forklift longitudinal acceleration control method.

[0090] The electronic device and computer-readable storage medium provided by the embodiments of the present invention have the same technical features, and therefore can solve the same technical problems and achieve the same technical effects.

[0091] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0092] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

Claims

1. A forklift longitudinal acceleration control method, characterized in that: Applied to controllers; The controller is arranged on the controlled forklift; the controlled forklift is in a driving state; the method comprises: Obtaining the real-time travel speed, motor real-time torque and accelerator pedal opening of the controlled forklift; Calculating the actual longitudinal acceleration and the actual longitudinal impact degree of the controlled forklift according to the real-time driving speed; and calculating the motor torque request value according to the accelerator pedal opening; Calculating an acceleration error value according to a preset acceleration extreme value and the actual longitudinal acceleration; Acquire an experimental acceleration error value and an experimental longitudinal impact degree corresponding to the experimental acceleration error value; the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value are positively correlated; Draw a first table according to the corresponding relationship between the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value; Based on a single linear interpolation table lookup method, according to the acceleration error value, from the first table, look up the target longitudinal impact degree corresponding to the acceleration error value; Calculating an impact degree error value according to the target longitudinal impact degree and the actual longitudinal impact degree; Obtaining an experimental shock degree error value and an experimental motor torque demand increment corresponding to the experimental shock degree error value; the experimental shock degree error value and the experimental motor torque demand increment corresponding to the experimental shock degree error value are positively correlated; Draw a second table according to the corresponding relationship between the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value; Based on the single linear interpolation table lookup method, according to the impact degree error value, the target motor torque requirement increment of the controlled forklift corresponding to the impact degree error value is searched from the second table; Calculating a motor torque limit request value based on acceleration limit according to the target motor torque demand increment and the motor real-time torque; Determining a current motor limit torque request value according to the motor limit torque request value based on the acceleration limit and the motor torque request value; Based on the current motor limit torque request value, the longitudinal acceleration of the controlled forklift is controlled.

2. The forklift longitudinal acceleration control method according to claim 1, characterized in that: The step of determining a current motor limit torque request value according to the motor limit torque request value based on the acceleration limit and the motor torque request value comprises: A minimum value between the motor torque request value based on the acceleration limit and the motor torque request value is determined as a current motor torque request value.

3. The forklift longitudinal acceleration control method according to claim 1, characterized in that: The step of calculating the actual longitudinal acceleration and the actual longitudinal impact degree of the controlled forklift according to the real-time driving speed comprises: Calculating the first-order derivative and the second-order derivative of the real-time driving speed to obtain a first-order derivative result and a second-order derivative result; The first-order derivative result is determined as the actual longitudinal acceleration; and the second-order derivative result is determined as the actual longitudinal impact degree.

4. The forklift longitudinal acceleration control method according to claim 1, characterized in that: The step of calculating the impact degree error value according to the target longitudinal impact degree and the actual longitudinal impact degree comprises: The target longitudinal impact degree and the actual longitudinal impact degree are subtracted to obtain the impact degree error value.

5. The forklift longitudinal acceleration control method according to claim 1, characterized in that: The step of calculating a motor torque limit request value based on acceleration limit according to the target motor torque demand increment and the motor real-time torque comprises: The target motor torque demand increment and the motor real-time torque are summed and calculated to obtain a motor torque limit request value based on acceleration limit.

6. The forklift longitudinal acceleration control method according to claim 1, characterized in that: The controller is connected to the motor controller of the controlled forklift; A position sensor is installed on the accelerator pedal of the controlled forklift; The step of obtaining the real-time torque of the motor and the accelerator pedal opening of the controlled forklift includes: Read the real-time torque of the motor from the motor controller; The accelerator pedal opening is acquired based on the position sensor.

7. A forklift longitudinal acceleration control device, characterized in that: Applied to controllers; The controller is arranged on the controlled forklift; the controlled forklift is in a driving state; the device comprises: A data acquisition module, used to acquire the real-time travel speed, the real-time torque of the motor and the accelerator pedal opening of the controlled forklift; A data processing module, used to calculate the actual longitudinal acceleration and the actual longitudinal impact degree of the controlled forklift according to the real-time driving speed; and, according to the accelerator pedal opening, calculate the motor torque request value; and calculate the acceleration error value according to the preset acceleration extreme value and the actual longitudinal acceleration; A query module, used for obtaining an experimental acceleration error value and an experimental longitudinal impact degree corresponding to the experimental acceleration error value; the experimental acceleration error value is positively correlated with the experimental longitudinal impact degree corresponding to the experimental acceleration error value; a first table is drawn according to the corresponding relationship between the experimental acceleration error value and the experimental longitudinal impact degree corresponding to the experimental acceleration error value; based on a single linear interpolation value table lookup method, a target longitudinal impact degree corresponding to the acceleration error value is searched from the first table according to the acceleration error value; an impact degree error value is calculated according to the target longitudinal impact degree and the actual longitudinal impact degree; an experimental impact degree error value and an experimental motor torque demand increment corresponding to the experimental impact degree error value are obtained; the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value are positively correlated; a second table is drawn according to the corresponding relationship between the experimental impact degree error value and the experimental motor torque demand increment corresponding to the experimental impact degree error value; based on the single linear interpolation value table lookup method, a target motor torque demand increment of the controlled forklift corresponding to the impact degree error value is searched from the second table according to the impact degree error value; A result output module is used to calculate a motor limit torque request value based on acceleration limitation according to the target motor torque demand increment and the motor real-time torque; determine a current motor limit torque request value according to the motor limit torque request value based on acceleration limitation and the motor torque request value; and control the longitudinal acceleration of the controlled forklift based on the current motor limit torque request value.

8. An electronic device, characterized in that: The electronic device includes a processor and a memory, wherein the memory stores computer executable instructions that can be executed by the processor, and the processor executes the computer executable instructions to implement the forklift longitudinal acceleration control method according to any one of claims 1 to 6.

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