Output power distribution method for electric forklift

Abstract

This invention discloses a method for power distribution in electric forklifts, relating to the field of electric forklift control technology. The method includes: acquiring the current operating condition of the electric forklift using multi-dimensional data signals; performing power distribution based on the current operating condition using the multi-dimensional data signals to obtain an initial power distribution result; and performing energy balancing based on the initial power distribution result to obtain a final power distribution result. This invention solves the problem of intelligent energy distribution for the travel motor and hydraulic motor of an electric forklift under multiple operating conditions, while simultaneously improving energy utilization and achieving energy balance under different battery charge states, ensuring consistent driving performance.

Description

Technical Field

[0001] This invention relates to the field of electric forklift control technology, and in particular to a method for distributing output power for electric forklifts. Background Technology

[0002] During the operation of an electric forklift, its drive motor is responsible for driving the entire vehicle, while the hydraulic trolley is responsible for steering and hydraulic lifting; both are powered by a battery. Current technology for electric forklifts suffers from inefficient energy distribution across multiple energy-consuming systems (drive motor and hydraulic motor), especially prone to insufficient power or energy waste when switching between different operating conditions. For example, in driving, hydraulic lifting, or combined driving conditions, there is a lack of intelligent energy distribution strategies tailored to different scenarios, making it impossible to rationally determine the power supply sequence.

[0003] In addition, energy recovery during braking is limited by the battery state. When the energy recovered by the driving motor exceeds the battery's maximum allowable charging power, the excess energy cannot be effectively handled. Furthermore, the existing technology lacks an energy balancing strategy, which affects driving consistency. For example, the braking distance at the same vehicle speed may fluctuate significantly under different battery charge states, reducing driving safety and stability.

[0004] Existing technologies do not fully consider the actual working scenarios of forklifts (such as prioritizing power steering and lifting power), resulting in insufficient flexibility in control strategies and failing to meet the requirements of efficient and safe operation of electric forklifts under complex working conditions. Therefore, there is an urgent need for an output power distribution method for electric forklifts to address the shortcomings of existing technologies. Summary of the Invention

[0005] The purpose of this invention is to propose an output power distribution method for electric forklifts to solve the problem of intelligent energy distribution of the travel motor and hydraulic motor under multiple working conditions of electric forklifts, improve energy utilization, and achieve energy balance under different battery charge states to ensure driving consistency.

[0006] To achieve the above objectives, the present invention provides a method for distributing output power to an electric forklift, comprising the following steps:

[0007] S1. Utilize multi-dimensional data signals from the electric forklift to obtain the current operating status of the electric forklift;

[0008] S2. Based on the current operating condition of the electric forklift, power distribution is performed using the multi-dimensional data signals of the electric forklift to obtain an initial power distribution result, wherein the initial power distribution result includes a drive distribution result and a braking distribution result;

[0009] S3. Perform energy balance based on the initial power allocation result to obtain the final power allocation result.

[0010] Optionally, multi-dimensional data signals from the electric forklift can be used to obtain the current operating status of the electric forklift, including:

[0011] Acquire multi-dimensional data signals of the electric forklift, wherein the multi-dimensional data signals of the electric forklift include battery status signals, driver operation signals, motor operation signals and mode signals of the electric forklift, the battery status signals include the current state of charge of the battery, the maximum allowable discharge power of the battery and the maximum allowable charging power of the battery, and the driver operation signals include the driver's power demand and the target speed of the hydraulic motor;

[0012] The multi-dimensional data signals of the electric forklift are filtered to obtain key signals for determining the working condition of the electric forklift.

[0013] The operating condition of the electric forklift is identified by using the key signals for determining the operating condition of the electric forklift.

[0014] Optionally, the operating condition of the electric forklift can be identified using the key signals for determining the operating condition, including:

[0015] Using the aforementioned key signals for determining the operating condition of the electric forklift, threshold values ​​for the key signals for determining the operating condition of the electric forklift are obtained, wherein the threshold values ​​for the key signals for determining the operating condition of the electric forklift include the driver's required power threshold and the hydraulic motor's idle speed.

[0016] The current operating condition of the electric forklift is obtained by identifying the operating condition based on the key signals for determining the operating condition of the electric forklift and the threshold values ​​of the key signals for determining the operating condition of the electric forklift.

[0017] Optionally, operating condition identification is performed based on the electric forklift operating condition determination data signal and the threshold value of the electric forklift operating condition determination data signal to obtain the current operating condition of the electric forklift, including:

[0018] Determine whether the driver's required power is greater than the driver's required power threshold. If so, perform the first operation to obtain the current operating condition of the electric forklift; otherwise, perform the second operation to obtain the current operating condition of the electric forklift.

[0019] The first operation is as follows: determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor. If so, obtain the composite working condition as the current working condition of the electric forklift; otherwise, obtain the driving working condition as the current working condition of the electric forklift.

[0020] The second operation is as follows: determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor. If so, obtain the hydraulic lifting condition as the current operating condition of the electric forklift; otherwise, obtain the standby condition as the current operating condition of the electric forklift.

[0021] Optionally, based on the current operating condition of the electric forklift, power distribution is performed using the multi-dimensional data signals of the electric forklift to obtain an initial power distribution result, including:

[0022] Based on the current operating condition of the electric forklift, obtain the priority strategy for the current operating condition of the electric forklift;

[0023] Based on the priority allocation strategy of the electric forklift under the current working condition, the power distribution ratio of the electric forklift under the current working condition is obtained by using the multi-dimensional data signals of the electric forklift.

[0024] Power is allocated according to the power distribution ratio of the electric forklift under the current working condition to obtain the initial power distribution result.

[0025] Optionally, a priority strategy for obtaining the current operating condition of the electric forklift based on its current operating condition includes:

[0026] Determine whether the current working condition of the electric forklift is a driving condition. If so, obtain the priority strategy of the driving condition as the priority strategy of the current working condition of the electric forklift; otherwise, execute the third operation.

[0027] The third operation is as follows: determine whether the current working condition of the electric forklift is hydraulic lifting mode. If so, obtain the priority strategy of hydraulic lifting mode as the priority strategy of the current working condition of the electric forklift. Otherwise, execute the fourth operation.

[0028] The fourth operation is as follows: determine whether the current working condition of the electric forklift is a composite working condition. If so, obtain the priority strategy of the composite working condition as the priority strategy of the current working condition of the electric forklift. Otherwise, obtain the multi-dimensional data signal of the electric forklift at the next moment as the multi-dimensional data signal of the electric forklift, and return to filter the multi-dimensional data signal of the electric forklift.

[0029] Optionally, based on the priority allocation strategy of the electric forklift's current operating condition, the power distribution ratio of the electric forklift under the current operating condition is obtained using the multi-dimensional data signals of the electric forklift, including:

[0030] The steering assist power is calculated using the multi-dimensional data signals from the electric forklift.

[0031] Based on the steering assist power, the power requirement of the electric forklift under the current working condition is obtained using the multi-dimensional data signals of the electric forklift.

[0032] The available power threshold is calculated based on the multi-dimensional data signals of the electric forklift and the steering assist power.

[0033] Based on the priority allocation strategy of the electric forklift under the current operating condition, the power allocation ratio of the electric forklift under the current operating condition is obtained by using the power demand of the electric forklift under the current operating condition, the available power threshold and the steering assist power.

[0034] Specifically, the process of obtaining the power requirement of the electric forklift under its current operating condition based on the steering assist power and multi-dimensional data signals includes:

[0035] Determine whether the current working condition of the electric forklift is a driving condition. If so, use the multi-dimensional data signal of the electric forklift to obtain the power demand for walking as the power demand for the current working condition of the electric forklift. Otherwise, execute the fifth operation.

[0036] The fifth operation is as follows: determine whether the current working condition of the electric forklift is hydraulic lifting. If so, use the multi-dimensional data signal of the electric forklift to obtain the hydraulic lifting power requirement as the power requirement of the electric forklift in the current working condition. Otherwise, use the multi-dimensional data signal of the electric forklift to obtain the walking power requirement and the hydraulic lifting power requirement, and combine them with the steering assist power to obtain the composite power requirement as the power requirement of the electric forklift in the current working condition.

[0037] Optionally, based on the priority allocation strategy of the electric forklift's current operating condition, the power demand of the electric forklift's current operating condition, the available power threshold, and the steering assist power are used to obtain the power allocation ratio of the electric forklift's current operating condition, including:

[0038] Determine whether the current operating condition of the electric forklift is driving. If it is, execute the sixth operation; otherwise, execute the seventh operation.

[0039] The sixth operation is as follows: determine whether the power demand of the electric forklift under the current working condition is greater than the available power threshold. If so, combine the priority allocation strategy of the electric forklift under the current working condition and use the steering assist power to obtain the first travel motor allocation ratio and the first hydraulic motor allocation ratio as the power allocation ratio of the electric forklift under the current working condition. Otherwise, combine the priority allocation strategy of the electric forklift under the current working condition and use the power demand of the electric forklift under the current working condition, the available power threshold and the steering assist power to obtain the second travel motor allocation ratio and the second hydraulic motor allocation ratio as the power allocation ratio of the electric forklift under the current working condition.

[0040] The seventh operation is to determine whether the current working condition of the electric forklift is a hydraulic lifting condition. If so, the remaining power is obtained by using the power demand of the current working condition of the electric forklift and the available power threshold, and the eighth operation is executed. Otherwise, the ninth operation is executed.

[0041] The eighth operation is as follows: determine whether the remaining power is less than the remaining power threshold. If so, combine the priority allocation strategy of the current working condition of the electric forklift to obtain the third travel motor allocation ratio and the third steering assist allocation ratio as the power allocation ratio of the current working condition of the electric forklift. Otherwise, combine the priority allocation strategy of the current working condition of the electric forklift to obtain the fourth travel motor allocation ratio as the power allocation ratio of the current working condition of the electric forklift using the power demand of the current working condition of the electric forklift and the remaining power.

[0042] The ninth operation is as follows: determine whether the power demand of the electric forklift under the current operating condition is greater than the available power threshold. If so, combine the power demand of the electric forklift under the current operating condition, the available power threshold, and the steering assist power to obtain the fifth travel motor allocation ratio as the power allocation ratio of the electric forklift under the current operating condition. Otherwise, combine the priority allocation strategy of the electric forklift under the current operating condition to obtain the sixth travel motor allocation ratio, the sixth hydraulic motor allocation ratio, and the sixth steering assist allocation ratio as the power allocation ratio of the electric forklift under the current operating condition.

[0043] Optionally, energy balancing is performed based on the initial power allocation result to obtain the final power allocation result, including:

[0044] Determine whether the initial power distribution result is a drive distribution result. If so, execute the tenth operation; otherwise, perform braking energy balancing based on the initial power distribution result to obtain the final power distribution result.

[0045] The tenth operation is as follows: determine whether the walking motor of the initial power distribution result is in a driving state. If so, perform driving energy balancing according to the initial power distribution result to obtain the final power distribution result; otherwise, obtain the initial power distribution result as the final power distribution result.

[0046] Optionally, braking energy balancing is performed based on the initial power distribution result to obtain the final power distribution result, including:

[0047] Based on the current operating conditions of the electric forklift, obtain the energy recovery value of the walking motor braking.

[0048] Based on the current state of charge of the battery, the maximum allowable charging power of the battery, and the battery temperature parameters, the safe receiving charging power of the battery is obtained;

[0049] The braking energy recovery value of the walking motor and the safe charging power received by the battery are used to balance the braking energy and generate a braking energy balance result.

[0050] The braking distance is calculated based on the initial power distribution result and the braking energy balance result to obtain the actual braking distance of the electric forklift.

[0051] The strategy is adjusted based on the braking distance to obtain the final power distribution result.

[0052] Compared with the closest existing technology, the present invention has the following advantages:

[0053] This invention utilizes multi-dimensional data fusion and operational condition recognition technology to achieve intelligent energy allocation between the travel motor and hydraulic motor under various operating conditions, including driving, hydraulic lifting, and combined operating conditions. Specifically, in driving conditions, priority is given to ensuring travel power, improving energy utilization; in hydraulic lifting conditions, priority is given to meeting lifting needs, reducing energy consumption; and in combined operating conditions, energy is allocated according to a priority order of "steering + lifting > driving," minimizing energy waste. Based on a dynamic adjustment braking energy recovery strategy according to battery charge, when the recovered energy exceeds the battery's safe receiving power, the hydraulic motor consumes excess energy, reducing the braking distance deviation at the same vehicle speed under different battery charge states and improving braking stability. This invention solves the problem of intelligent energy allocation between the travel motor and hydraulic motor of electric forklifts under multiple operating conditions, simultaneously improving energy utilization and achieving energy balance under different battery charge states, ensuring consistent driving performance. Attached Figure Description

[0054] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0055] Figure 1 This is a flowchart of an output power distribution method for an electric forklift according to an embodiment of the present invention. Detailed Implementation

[0056] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0057] The terminology used in the embodiments section of this invention is for the purpose of explaining specific embodiments of the invention only, and is not intended to limit the invention.

[0058] like Figure 1As shown, this embodiment of the invention provides a method for distributing output power to an electric forklift, including the following steps S1 to S3:

[0059] S1. Utilize multi-dimensional data signals from the electric forklift to obtain the current operating status of the electric forklift;

[0060] This invention collects multi-dimensional data signals from the electric forklift in real time, including the battery's current state of charge, maximum allowable battery discharge power, driver's required power, target speed of the hydraulic motor, current speed of the travel motor, current speed of the hydraulic motor, current torque of the travel motor, and current torque of the hydraulic motor. Combined with the vehicle's driving status and the hydraulic system's operating status, it accurately determines whether the electric forklift is currently in driving mode, hydraulic lifting mode, or a combined driving and hydraulic lifting mode. This step can quickly and accurately identify the vehicle's actual working scenario. Compared to existing technologies, this step's condition determination is more refined and dynamic, reflecting the vehicle's actual operating status in real time and providing a more accurate basis for subsequent power distribution, thereby improving energy utilization efficiency and vehicle response speed.

[0061] S2. Based on the current operating condition of the electric forklift, power distribution is performed using the multi-dimensional data signals of the electric forklift to obtain an initial power distribution result, wherein the initial power distribution result includes a drive distribution result and a braking distribution result;

[0062] Existing technologies use an "equal distribution or fixed priority" allocation method, such as 50% energy allocation for traveling and 50% for lifting, which often leads to overload or idleness of a single system. This step uses a dynamic priority strategy, such as prioritizing lifting power (accounting for 70%) under combined working conditions, to avoid stopping the lifting of goods midway, while reducing the energy consumption of the traveling motor idling.

[0063] S3. Perform energy balancing based on the initial power allocation result to obtain the final power allocation result;

[0064] Existing technologies lack overload diversion mechanisms, and braking under high charge conditions can easily lead to battery overcharging (e.g., charging power exceeds the limit when the battery's state of charge is >80%). This step uses a hydraulic motor to dissipate redundant energy, always limiting the battery charging power within a safe range and reducing battery wear. Furthermore, in existing technologies, braking distance fluctuates significantly with charge level (e.g., braking distance is 2 meters when the battery's state of charge is 30%, and reaches 3 meters when the battery's state of charge is 80%). This step, however, forcibly stabilizes the braking torque through energy diversion, ensuring consistent braking performance under different charge levels and reducing driver operational risks (e.g., distance prediction errors during emergency braking).

[0065] As one possible implementation, in the above embodiments, step S1 may specifically include the following steps:

[0066] S1-1. Acquire multi-dimensional data signals of the electric forklift, wherein the multi-dimensional data signals of the electric forklift include battery status signals, driver operation signals, motor operation signals and mode signals of the electric forklift, the battery status signals include the current state of charge of the battery, the maximum allowable discharge power of the battery and the maximum allowable charging power of the battery, and the driver operation signals include the driver's required power and the target speed of the hydraulic motor.

[0067] This embodiment uses a battery management system (BMS) to acquire battery status signals such as the current state of charge (SBC), maximum allowable discharge power, and maximum allowable charging power. The current SBC reflects the remaining battery capacity and is used to determine the maximum recoverable energy the battery can receive during braking (affecting the energy balance strategy). The maximum allowable discharge power limits the total energy allocated under various operating conditions to prevent overload discharge. The maximum allowable charging power limits the maximum input power for energy recovery by the drive motor during braking to prevent battery life loss or safety risks due to overload charging.

[0068] The driver operation signals include the driver's power demand obtained through pedal / handle sensors and the target speed of the hydraulic motor obtained through the vehicle control unit (VCU). The driver's power demand is used to identify the driver's intention, such as driving, lifting, or a combination of operations, and then trigger the power distribution logic for the corresponding operating condition; the target speed of the hydraulic motor is used to calculate the base power required for steering assist and determine the priority starting point for power distribution.

[0069] The current speed / torque of the travel motor and the hydraulic motor are obtained through motor sensors. The current speed / torque of the travel motor is used to monitor the load status of the travel motor in real time and dynamically adjust the power distribution, such as to avoid insufficient power during driving conditions. The current speed / torque of the hydraulic motor is used to monitor the actual power demand of the hydraulic system (such as changes in lifting load) and optimize the distribution of remaining power under complex working conditions.

[0070] The mode signals include the current operating mode of the motor obtained through the motor controller (MCU) and the battery operating mode command obtained through the VCU. The current operating mode of the motor is used to confirm the status of the travel / hydraulic motors, such as the "drive mode" or "regenerative braking mode" of the travel motor, and the "speed control mode" or "torque control mode" of the hydraulic motor, thereby triggering the energy balance strategy. The battery operating mode command is used to control the battery charging and discharging status, such as allowing or disabling regenerative braking, which facilitates the execution of regenerative braking or diversion operations.

[0071] This step builds a comprehensive foundation of forklift operation information by collecting signals from multiple dimensions, including battery status, driver operation, motor operation, and mode, providing data support for subsequent precise control.

[0072] S1-2. Filter the multi-dimensional data signals of the electric forklift to obtain key signals for determining the working condition of the electric forklift.

[0073] This step selectively filters driver operation signals from multi-dimensional data signals and removes redundant information as key signals for determining the working condition of the electric forklift, which facilitates improved data processing efficiency and accuracy of working condition identification.

[0074] S1-3. Use the key signals for determining the working condition of the electric forklift to identify the working condition and obtain the current working condition of the electric forklift.

[0075] Based on the precise selection of key signals for determining the operating conditions of electric forklifts, the current operating conditions of electric forklifts can be quickly and accurately identified, laying the core foundation for achieving intelligent power distribution that adapts to different operating conditions.

[0076] As one possible implementation, in the above embodiments, steps S1-3 may specifically include the following steps:

[0077] S1-3-1. Using the key signals for determining the working condition of the electric forklift, obtain the threshold values ​​of the key signals for determining the working condition of the electric forklift, wherein the threshold values ​​of the key signals for determining the working condition of the electric forklift include the driver's required power threshold and the idle speed of the hydraulic motor.

[0078] This step establishes a quantitative standard for operating condition identification by extracting the driver's required power threshold and the hydraulic motor's idle speed, providing a unified reference for subsequent operating condition judgment, ensuring the accuracy and consistency of operating condition identification, and avoiding misjudgments caused by subjective settings or lack of standards. In this embodiment, the hydraulic motor's idle speed is the minimum torque corresponding to the hydraulic motor's target speed.

[0079] S1-3-2. Based on the key signal for determining the working condition of the electric forklift and the threshold value of the key signal for determining the working condition of the electric forklift, the working condition is identified to obtain the current working condition of the electric forklift.

[0080] This step sets a threshold for the driver's required power and the hydraulic motor's idle speed as judgment thresholds, and compares the key signals for judging the operating conditions, such as the driver's required power and the hydraulic motor speed, collected in real time with the thresholds to achieve accurate identification of the electric forklift's driving conditions, hydraulic lifting conditions, and combined conditions.

[0081] As one possible implementation, in the above embodiments, step S1-3-2 may specifically include the following steps:

[0082] Determine whether the driver's required power is greater than the driver's required power threshold. If so, perform the first operation to obtain the current operating condition of the electric forklift; otherwise, perform the second operation to obtain the current operating condition of the electric forklift.

[0083] The first operation is as follows: determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor. If so, obtain the composite working condition as the current working condition of the electric forklift; otherwise, obtain the driving working condition as the current working condition of the electric forklift.

[0084] The second operation is as follows: determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor. If so, obtain the hydraulic lifting condition as the current operating condition of the electric forklift; otherwise, obtain the standby condition as the current operating condition of the electric forklift.

[0085] In this embodiment, under the driving mode, the electric forklift primarily performs driving operations, with the hydraulic system not performing lifting or having low steering power requirements. Under the hydraulic lifting mode, the electric forklift primarily performs lifting or lowering operations, with low driving requirements. Under the combined mode, the electric forklift performs both driving and lifting operations simultaneously, needing to meet both requirements at the same time. Under the standby mode, the electric forklift is in a state where it does not perform any driving or hydraulic operations; this state is typically used for short pauses or waiting operations. The combined mode refers to the mode where both driving and hydraulic lifting are driven simultaneously. Furthermore, in this embodiment, the driver's power requirement threshold is set to 0.5kW.

[0086] This step compares the real-time collected driver power demand with the driver power demand threshold to accurately filter invalid operation signals, effectively avoiding false triggering of driving conditions and significantly improving the accuracy of condition identification. Based on the confirmed existence of a driving demand, it compares the target speed of the hydraulic motor with the idle speed to quickly and accurately distinguish between driving conditions and combined conditions, significantly improving the efficiency and response speed of condition identification in combined operation scenarios. After ruling out a driving demand, based on the comparison results of the target speed of the hydraulic motor and the idle speed, it accurately identifies hydraulic lifting conditions and standby conditions. This not only prevents misjudgments that increase energy consumption but also intelligently cuts off unnecessary loads during standby, achieving energy saving and efficiency improvement.

[0087] As one possible implementation, in the above embodiments, step S2 may specifically include the following steps:

[0088] S2-1. Obtain the priority strategy of the current working condition of the electric forklift based on the current working condition of the electric forklift;

[0089] The current operating condition of the electric forklift directly determines the priority strategy. Different operating conditions correspond to different priority strategies, which ensures that the power distribution can meet the main needs under the current operating condition.

[0090] S2-2. Based on the priority allocation strategy of the electric forklift under the current working condition, the power allocation ratio of the electric forklift under the current working condition is obtained by using the multi-dimensional data signals of the electric forklift.

[0091] The priority allocation strategy for the current working condition of the electric forklift provides the basic principles for power allocation, while the multi-dimensional data signals of the electric forklift are used to refine and adjust the power allocation ratio, ensuring that the power allocation conforms to the priority strategy and meets the actual operating requirements.

[0092] S2-3. Distribute power according to the power distribution ratio of the electric forklift under the current working condition, and obtain the initial power distribution result;

[0093] After calculating the power distribution ratio, the actual power distribution is performed according to the ratio to obtain the drive distribution result and the braking distribution result, ensuring that the electric forklift can operate efficiently and safely under the current working conditions.

[0094] As one possible implementation, in the above embodiments, step S2-1 may specifically include the following steps:

[0095] Determine whether the current working condition of the electric forklift is a driving condition. If so, obtain the priority strategy of the driving condition as the priority strategy of the current working condition of the electric forklift; otherwise, execute the third operation.

[0096] The third operation is as follows: determine whether the current working condition of the electric forklift is hydraulic lifting mode. If so, obtain the priority strategy of hydraulic lifting mode as the priority strategy of the current working condition of the electric forklift. Otherwise, execute the fourth operation.

[0097] The fourth operation is as follows: determine whether the current working condition of the electric forklift is a composite working condition. If so, obtain the priority strategy of the composite working condition as the priority strategy of the current working condition of the electric forklift. Otherwise, obtain the multi-dimensional data signal of the electric forklift at the next moment as the multi-dimensional data signal of the electric forklift, and return to filter the multi-dimensional data signal of the electric forklift.

[0098] In this embodiment, the priority strategy for driving conditions is that the power steering is superior to the electric power for travel; the priority strategy for hydraulic lifting conditions is that the power steering is superior to the lifting power, and the lifting power is superior to the power for travel assistance; the priority strategy for combined conditions is that the power steering and lifting power are superior to the power for travel.

[0099] During driving operations, prioritizing power steering for the drive motor, and only providing the remaining power to the hydraulic motor, power is distributed based on whether the electric forklift is currently in a driving condition. If so, the priority strategy of "power steering > electric drive" is directly established as the power allocation basis for the current driving condition. This step quickly locks the priority strategy for a single operating condition, reducing unnecessary calculations. When the vehicle is only performing driving operations, steering safety is prioritized, preventing steering failure due to insufficient power and improving driving stability.

[0100] In hydraulic lifting operations, priority is given to ensuring the vehicle has sufficient steering assist and lifting power. The remaining energy is then supplied to the drive motor. This step, after ruling out driving conditions, further determines whether the current operation is hydraulic lifting. If so, the priority strategy of "steering assist power > lifting power > travel assist power" is adopted as the power distribution criterion for the current operation. This step precisely adapts to the needs of hydraulic lifting operations, prioritizing the smooth lifting of goods while ensuring steering safety, and simultaneously allocating surplus power for minor vehicle adjustments, thereby improving operational efficiency.

[0101] In scenarios where both driving and hydraulic lifting are driven simultaneously, priority is given to ensuring the vehicle has sufficient power for steering and lifting. Any remaining energy is then supplied to the drive motor. If neither of these conditions is met, the system is further assessed to determine if it is a combined condition. If so, the priority strategy of "steering assist power + lifting power > driving power" is applied. If neither condition is met, multi-dimensional data signals from the next moment are acquired, and the condition is reassessed. This step effectively addresses complex work scenarios, ensuring a guaranteed power supply for steering and lifting operations, preventing critical tasks from failing due to power dispersion. For abnormal or unidentified conditions, real-time data updates ensure continuous and stable system operation and reduce the risk of misjudgment.

[0102] In summary, the step-by-step implementation of steps S2-1 to S2-3 achieves intelligent power allocation based on a dynamic priority strategy according to the current operating conditions of the electric forklift. Each step is closely linked, ensuring that the power allocation meets both the needs of the current operating conditions and the actual operating conditions of the battery and motor, thereby improving the energy utilization efficiency and operational stability of the electric forklift.

[0103] As one possible implementation, in the above embodiments, step S2-2 may specifically include the following steps:

[0104] S2-2-1. Calculate the steering assist power using the multi-dimensional data signals of the electric forklift;

[0105] The target speed of the hydraulic motor is determined by multi-dimensional data signals from the electric forklift. N 液压电机目标 Current torque of hydraulic motor T 转向 and system efficiency constant k Real-time calculation of steering assist power P 转向 This ensures that the steering system receives stable power first, including steering assist power. P 转向 The calculation formula is as follows:

[0106] P 转向 = N 液压电机目标 × T 转向 × k 1

[0107] in, k 1 is a pre-set system efficiency constant used to balance the steering assist force, response speed, and stability.

[0108] S2-2-2. Based on the steering assist power, the power demand of the electric forklift under the current working condition is obtained using the multi-dimensional data signals of the electric forklift.

[0109] This step combines the working conditions (traveling, lifting, and combined) and dynamically calculates the power requirements for traveling, hydraulic lifting, and combined working conditions based on driver operation signals and motor load data. This avoids the energy waste of traditional fixed allocation modes and reduces energy consumption during no-load operation. The specific steps are as follows:

[0110] Determine whether the current working condition of the electric forklift is a driving condition. If so, use the multi-dimensional data signal of the electric forklift to obtain the power demand for walking as the power demand for the current working condition of the electric forklift. Otherwise, execute the fifth operation.

[0111] The fifth operation is as follows: determine whether the current working condition of the electric forklift is hydraulic lifting. If so, use the multi-dimensional data signal of the electric forklift to obtain the hydraulic lifting power requirement as the power requirement of the electric forklift in the current working condition. Otherwise, use the multi-dimensional data signal of the electric forklift to obtain the walking power requirement and the hydraulic lifting power requirement, and combine them with the steering assist power to obtain the composite power requirement as the power requirement of the electric forklift in the current working condition.

[0112] The specific steps to obtain the power requirement of an electric forklift under its current operating conditions are as follows:

[0113] Under driving conditions, the driver's power demand is obtained through multi-dimensional data signals from the electric forklift. P 驾驶员需求 With load factor k 2. Calculate the power required for walking P 行走需求 The calculation formula is as follows:

[0114] P 行走需求 = P 驾驶员需求 × k 2

[0115] Among them, load factor k2. Obtained through the current speed / torque of the travel motor. If the current speed of the travel motor is low but the torque is high (e.g., climbing a hill), then... k If 2 > 1, then the power requirement increases; if the speed is high and the torque is low (such as when driving on a flat road), then... k If 2 ≤ 1, then the power requirement is reduced.

[0116] Under hydraulic lifting conditions, the target speed of the hydraulic motor is controlled. N 液压电机目标 Lifting load torque T 举升 With system efficiency compensation constant k 3. Calculate the required power for hydraulic lifting. The calculation formula is as follows:

[0117] P 液压举升需求 = N 液压电机目标 × T 举升 × k 3

[0118] Specifically, the lifting load torque is calculated by using the current torque / speed of the hydraulic motor and combining it with the transmission efficiency. T 举升 The transmission efficiency is calculated by the current torque of the hydraulic motor, the transmission ratio of the reduction mechanism (such as the gearbox speed ratio), and the efficiency of the transmission system. The transmission system efficiency is usually 0.85~0.95.

[0119] Under combined operating conditions, all data signals from both the driving and hydraulic lifting operating conditions are integrated, and the combined demand conditions are calculated. P 复合需求 The calculation formula is as follows:

[0120] P 复合需求 = P 转向 + P 液压举升需求 + P 行走需求 .

[0121] S2-2-3. Calculate the available power threshold based on the multi-dimensional data signals of the electric forklift and the steering assist power;

[0122] Based on the current state of charge of the battery P 电池-max With steering assist power P 转向 The upper limit of energy distribution can be calculated using the power threshold. P 可用 This avoids battery overload and allows for a usable power threshold. P 可用 The calculation formula is as follows:

[0123] P 可用 = P 电池-max - P 转向 .

[0124] S2-2-4. Based on the priority allocation strategy of the current working condition of the electric forklift, the power demand of the current working condition of the electric forklift, the available power threshold and the steering assist power are used to obtain the power allocation ratio of the current working condition of the electric forklift.

[0125] This step, based on the priority allocation strategy of the electric forklift under its current operating conditions, dynamically allocates the power ratio of each system within the available power threshold, thereby improving energy utilization.

[0126] As one possible implementation, in the above embodiments, step S2-2-4 may specifically include the following steps:

[0127] Determine whether the electric forklift is currently in a driving state. If so, proceed to the sixth operation; otherwise, proceed to the seventh operation. Specifically:

[0128] This step quickly distinguishes driving conditions, avoiding unnecessary power comparisons under other conditions, thus improving work efficiency. At the same time, it ensures that the subsequent power distribution logic is accurately matched with the current operating condition type, thereby improving system response speed.

[0129] The sixth operation involves determining whether the power demand of the electric forklift under its current operating condition exceeds the available power threshold. If so, the power distribution ratio of the first travel motor and the first hydraulic motor is obtained using the steering assist power, based on the priority allocation strategy of the electric forklift under its current operating condition. Otherwise, the power distribution ratio of the second travel motor and the second hydraulic motor is obtained using the priority allocation strategy of the electric forklift under its current operating condition, the power demand of the electric forklift under its current operating condition, the available power threshold, and the steering assist power, as the power distribution ratio of the electric forklift under its current operating condition. Specifically:

[0130] When the electric forklift is currently in the traveling mode, if P 行走需求 > P 可用 Then, combining the priority strategy of driving conditions, the travel motor allocation ratio is obtained. P 可用 / P 行走需求 ×100%, Hydraulic motor distribution ratio = P 转向 ;like P行走需求 ≤ P 可用 Then, combining the priority strategy of driving conditions, the travel motor allocation ratio is set to 100%, and the hydraulic motor allocation ratio is set to... P 转向 .

[0131] The seventh operation is as follows: determine whether the current operating condition of the electric forklift is hydraulic lifting mode. If so, obtain the remaining power using the power demand of the electric forklift under the current operating condition and the available power threshold, and then execute the eighth operation; otherwise, execute the ninth operation. Specifically:

[0132] This step accurately identifies the hydraulic lifting operating condition, avoiding confusion with complex operating conditions, reducing calculation redundancy, and providing a clear operating condition basis for subsequent power allocation, thus improving the targeting of the allocation strategy. Among these, the remaining power... P 剩余 Through available power threshold P 可用 Power requirements for hydraulic lifting P 液压举升需求 Calculated remaining power P 剩余 The calculation formula is as follows:

[0133] P 剩余 = P 可用 - P 液压举升需求 .

[0134] The eighth operation is as follows: Determine whether the remaining power is less than the remaining power threshold. If so, then, based on the priority allocation strategy of the current operating condition of the electric forklift, obtain the third travel motor allocation ratio and the third steering assist allocation ratio as the power allocation ratio of the current operating condition of the electric forklift. Otherwise, based on the priority allocation strategy of the current operating condition of the electric forklift, use the power demand of the current operating condition of the electric forklift and the remaining power to obtain the fourth travel motor allocation ratio as the power allocation ratio of the current operating condition of the electric forklift. Specifically:

[0135] In this embodiment, the remaining power threshold is 0. When the electric forklift is currently operating in hydraulic lifting mode, if P 剩余 If the value is less than 0, then the priority strategy for hydraulic lifting conditions will be combined to obtain a travel motor allocation ratio of 0% (only steering assist will be maintained), that is, a travel motor allocation ratio of 0% and a steering assist allocation ratio of 100%. P 剩余 If ≥0, then the priority strategy for hydraulic lifting conditions is combined to obtain the travel motor allocation ratio. P 剩余 / P 行走需求 ×100%.

[0136] The ninth operation is as follows: Determine whether the power demand of the electric forklift under its current operating condition is greater than the available power threshold. If so, combine the power demand of the electric forklift under its current operating condition, the available power threshold, and the steering assist power according to the priority allocation strategy of the electric forklift under its current operating condition to obtain the fifth travel motor allocation ratio as the power allocation ratio of the electric forklift under its current operating condition. Otherwise, combine the priority allocation strategy of the electric forklift under its current operating condition to obtain the sixth travel motor allocation ratio, the sixth hydraulic motor allocation ratio, and the sixth steering assist allocation ratio as the power allocation ratio of the electric forklift under its current operating condition. Specifically:

[0137] When the electric forklift is currently in a complex operating condition, if P 复合需求 > P 可用 Then, combining the priority strategy for complex working conditions, the walking motor allocation ratio is obtained as follows: ( P 可用 - P 转向 - P 液压举升需求 ) / P 行走需求 ×100%; if P 复合需求 ≤ P 可用 Then, combining the priority strategy for complex working conditions, the power allocation ratios of the travel motor, hydraulic motor, and steering assist are distributed according to 100% of the demand.

[0138] In summary, steps S2-2-4 above, through a hierarchical decision-making mechanism, can achieve precise power allocation under different working conditions, maximize energy utilization efficiency while ensuring safety, and significantly improve the overall performance and reliability of electric forklifts.

[0139] As one possible implementation, in the above embodiments, step S3 may specifically include the following steps:

[0140] Determine whether the initial power distribution result is a drive distribution result. If so, execute the tenth operation; otherwise, perform braking energy balancing based on the initial power distribution result to obtain the final power distribution result.

[0141] The tenth operation is as follows: determine whether the walking motor of the initial power distribution result is in a driving state. If so, perform driving energy balancing according to the initial power distribution result to obtain the final power distribution result; otherwise, obtain the initial power distribution result as the final power distribution result.

[0142] This embodiment determines whether the initial power distribution result is a drive distribution result. If so, it determines whether the walking motor of the initial power distribution result is in a drive state. Otherwise, it directly performs braking energy balancing to obtain the final result. By judging the drive / braking state, it can avoid redundant calculations in the energy balancing module, improve control response speed, and reduce energy consumption.

[0143] After confirming the drive allocation result, it is determined whether the walking motor is in a driving state. If so, drive energy balance optimization is performed; otherwise, the initial result is used as the final power allocation result. This ensures accurate power allocation optimization (such as load compensation and battery protection) in the driving state and prioritizes braking safety in the non-driving state, while also shortening the braking distance of the electric forklift.

[0144] As one possible implementation, in the above embodiments, step S3-1 may specifically include the following steps:

[0145] S3-1-1. Based on the current operating conditions of the electric forklift, obtain the energy recovery value of the walking motor braking.

[0146] The vehicle control unit (VCU) monitors the current operating mode signal of the motor in real time. For example, when the operating mode of the travel motor is switched to "regenerative braking mode" (the torque is negative and the speed is >0), and the current operating condition is driving condition or a combination of driving conditions (to avoid accidental triggering in non-driving conditions), it is determined that the regenerative braking process will be entered.

[0147] The regenerative braking energy value of the walking motor is calculated based on the current speed and torque of the walking motor, as well as the loss coefficients (preset to 0.9) for transmission efficiency and motor efficiency. P rec .

[0148] S3-1-2. Based on the current state of charge of the battery, the maximum allowable charging power of the battery, and the battery temperature parameters, obtain the safe receiving charging power of the battery;

[0149] Based on the battery's current state of charge, maximum allowable charging power, and battery temperature parameters, determine the safe charging power the battery can receive. P safe_chg This refers to the maximum power that the battery can safely receive. Specifically, when the battery's current state of charge is ≥80%, further reduction is required. P safe_chg Charge to 50%–70% of the rated value to avoid overcharging risk; when 20% ≤ current state of charge of the battery < 80%, adjust accordingly. P safe_chg That is, the basic correction factor is set to 0.8 (compared to 0.5-0.7 when the battery's current state of charge is ≥80%, allowing for higher charging power).P safe_chg =Maximum allowable charging power of battery × 0.8; Adjustment correction when the current state of charge of the battery is <20%. P safe_chg That is, the basic correction factor is set to 1 (full allowable charging power). P safe_chg = Maximum allowable charging power of battery × 1.

[0150] S3-1-3. Balance the braking energy by using the braking energy recovery value of the walking motor and the safe charging power of the battery to generate a braking energy balance result.

[0151] when P rec ≤ P safe_chg When the battery is in operation, the BMS is controlled by the battery operating mode command to fully recover braking energy, while the hydraulic motor remains in standby mode; when P rec > P safe_chg At that time, battery recycling P safe_chg Energy, excess Δ P = P rec - P safe_chg The excess energy is consumed by the hydraulic motor. The VCU sends a load command to the hydraulic motor, driving the hydraulic pump to idle or perform a no-load cycle, converting the excess energy into heat. The braking energy balance results generated in this step include the battery energy recovery value, the hydraulic motor energy consumption value, and the current sharing ratio, which are used for subsequent braking performance analysis.

[0152] S3-1-4. Calculate the braking distance based on the initial power distribution result and the braking energy balance result to obtain the actual braking distance of the electric forklift.

[0153] S3-1-5. Adjust the strategy based on the braking distance to obtain the final power distribution result;

[0154] Compare the actual braking distance with the target braking distance, for example, a target braking distance of 1.5 meters at a vehicle speed of 10 km / h, and calculate the distance deviation. When the distance deviation is <-0.1... m This reduces the energy consumption of the hydraulic motor and lowers the total braking force; or it allows the battery to receive more energy (if the safety limit is not reached) via a battery operating mode command. When the distance deviation > 0.1... m This can be achieved by increasing the power consumption of the hydraulic motor or limiting the energy recovery efficiency of the travel motor (e.g., by reducing the motor torque output). Finally, the adjusted power distribution parameters, such as the travel motor torque, hydraulic motor power, and battery charging strategy, will be used as the final power distribution result.

[0155] As one possible implementation, in the above embodiments, step S3-1-4 may specifically include the following steps:

[0156] S3-1-4-1 Obtain the target braking torque of the walking motor through the initial power distribution results. T motor And combined with the transmission ratio of the walking motor i Wheel radius r Calculate the power of the walking electric motor based on mechanical parameters. F motor The target braking torque of the travel motor has taken into account both operating condition priorities and battery discharge limitations. (Travel motor power) F motor The calculation formula is as follows:

[0157] F motor =( T motor × i) / r × n 1

[0158] in, n 1 represents the efficiency of the transmission system in this embodiment. n The default value is 0.92.

[0159] S3-1-4-2, When the braking energy balance result includes hydraulic motor losses, i.e. P rec > P safe_chg At this time, it is necessary to convert the hydraulic power consumption into braking force. The power consumption of the hydraulic motor is obtained based on the braking energy balance results. P hydraulic In order to obtain hydraulic auxiliary braking force F hydraulic The calculation formula is as follows:

[0160] F hydraulic =( P hydraulic ×1000) / v × n 2

[0161] in, v The initial braking speed is calculated based on the current speed of the travel motor. n 2 represents the hydraulic braking efficiency, in this embodiment... n 2 is preset to 0.85.

[0162] S3-1-4-3, Powered by the walking electric motor F motorWith hydraulic assisted braking force F hydraulic Obtain braking force from electric forklifts F total .

[0163] S3-1-4-4, Based on the braking force of electric forklifts F total Based on the vehicle's current mass (including cargo load) and the tire-ground friction coefficient (preset parameter), the actual braking distance of the electric forklift is obtained using dynamic formulas. d The calculation formula is as follows:

[0164] d = v / (2× a )

[0165] in, a For braking acceleration, a = F total / Total vehicle mass.

[0166] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0167] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0168] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0169] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0170] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for distributing output power in an electric forklift, characterized in that, include: S1. Utilize multi-dimensional data signals from the electric forklift to obtain its current operating status, including: Acquire multi-dimensional data signals from electric forklifts; The multi-dimensional data signals of the electric forklift are filtered to obtain key signals for determining the working condition of the electric forklift. The current working condition of the electric forklift is obtained by using the key signals for determining the working condition of the electric forklift. S2. Based on the current operating condition of the electric forklift, power distribution is performed using the multi-dimensional data signals of the electric forklift to obtain the initial power distribution result, including: Based on the current operating condition of the electric forklift, obtain the priority strategy for the current operating condition of the electric forklift; Based on the priority allocation strategy for the current operating condition of the electric forklift, the power distribution ratio of the electric forklift under the current operating condition is obtained using multi-dimensional data signals from the electric forklift, including: The steering assist power is calculated using the multi-dimensional data signals from the electric forklift. Based on the steering assist power, the power requirement of the electric forklift under the current working condition is obtained using the multi-dimensional data signals of the electric forklift. The available power threshold is calculated based on the multi-dimensional data signals of the electric forklift and the steering assist power. Based on the priority allocation strategy of the electric forklift under the current operating condition, the power allocation ratio of the electric forklift under the current operating condition is obtained by using the power demand of the electric forklift under the current operating condition, the available power threshold and the steering assist power. Specifically, the process of obtaining the power requirement of the electric forklift under its current operating condition based on the steering assist power and multi-dimensional data signals includes: Determine whether the current working condition of the electric forklift is a driving condition. If so, use the multi-dimensional data signal of the electric forklift to obtain the power demand for walking as the power demand for the current working condition of the electric forklift. Otherwise, execute the fifth operation. The fifth operation is as follows: determine whether the current working condition of the electric forklift is hydraulic lifting. If so, use the multi-dimensional data signal of the electric forklift to obtain the hydraulic lifting power requirement as the power requirement of the current working condition of the electric forklift. Otherwise, use the multi-dimensional data signal of the electric forklift to obtain the walking power requirement and the hydraulic lifting power requirement, and combine the power steering power to obtain the composite power requirement as the power requirement of the current working condition of the electric forklift. Power is allocated according to the power distribution ratio of the electric forklift under the current working condition to obtain the initial power distribution result; The initial power distribution result includes the drive distribution result and the braking distribution result; S3. Perform energy balance based on the initial power allocation result to obtain the final power allocation result.

2. The method for distributing output power to an electric forklift according to claim 1, characterized in that, The multi-dimensional data signals of the electric forklift include battery status signals, driver operation signals, motor operation signals, and mode signals. The battery status signals include the current state of charge of the battery, the maximum allowable discharge power of the battery, and the maximum allowable charging power of the battery. The driver operation signals include the driver's power demand and the target speed of the hydraulic motor.

3. The method for distributing output power to an electric forklift according to claim 2, characterized in that, The operating condition of the electric forklift is identified using the key signals for determining the operating condition, and the current operating condition of the electric forklift is obtained, including: Using the aforementioned key signals for determining the operating condition of the electric forklift, threshold values ​​for the key signals for determining the operating condition of the electric forklift are obtained, wherein the threshold values ​​for the key signals for determining the operating condition of the electric forklift include the driver's required power threshold and the hydraulic motor's idle speed. The current operating condition of the electric forklift is obtained by identifying the operating condition based on the key signals for determining the operating condition of the electric forklift and the threshold values ​​of the key signals for determining the operating condition of the electric forklift.

4. The output power distribution method for an electric forklift according to claim 3, characterized in that, Based on the key signals for determining the operating condition of the electric forklift and the threshold values ​​of the key signals for determining the operating condition of the electric forklift, the operating condition is identified to obtain the current operating condition of the electric forklift, including: Determine whether the driver's required power is greater than the driver's required power threshold. If so, perform the first operation to obtain the current operating condition of the electric forklift; otherwise, perform the second operation to obtain the current operating condition of the electric forklift. The first operation is as follows: determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor. If so, obtain the composite working condition as the current working condition of the electric forklift; otherwise, obtain the driving working condition as the current working condition of the electric forklift. The second operation is as follows: determine whether the target speed of the hydraulic motor is greater than the idle speed of the hydraulic motor. If so, obtain the hydraulic lifting condition as the current operating condition of the electric forklift; otherwise, obtain the standby condition as the current operating condition of the electric forklift.

5. The method for distributing output power to an electric forklift according to claim 2, characterized in that, Based on the current operating condition of the electric forklift, a priority strategy for obtaining the current operating condition of the electric forklift is defined, including: Determine whether the current working condition of the electric forklift is a driving condition. If so, obtain the priority strategy of the driving condition as the priority strategy of the current working condition of the electric forklift; otherwise, execute the third operation. The third operation is as follows: determine whether the current working condition of the electric forklift is hydraulic lifting mode. If so, obtain the priority strategy of hydraulic lifting mode as the priority strategy of the current working condition of the electric forklift. Otherwise, execute the fourth operation. The fourth operation is as follows: determine whether the current working condition of the electric forklift is a composite working condition. If so, obtain the priority strategy of the composite working condition as the priority strategy of the current working condition of the electric forklift. Otherwise, obtain the multi-dimensional data signal of the electric forklift at the next moment as the multi-dimensional data signal of the electric forklift, and return to filter the multi-dimensional data signal of the electric forklift.

6. The method for distributing output power to an electric forklift according to claim 2, characterized in that, The priority allocation strategy based on the current operating condition of the electric forklift utilizes the power demand of the electric forklift under the current operating condition, the available power threshold, and the steering assist power to obtain the power allocation ratio of the electric forklift under the current operating condition, including: Determine whether the current operating condition of the electric forklift is driving. If it is, execute the sixth operation; otherwise, execute the seventh operation. The sixth operation is as follows: determine whether the power demand of the electric forklift under the current working condition is greater than the available power threshold. If so, combine the priority allocation strategy of the electric forklift under the current working condition and use the steering assist power to obtain the first travel motor allocation ratio and the first hydraulic motor allocation ratio as the power allocation ratio of the electric forklift under the current working condition. Otherwise, combine the priority allocation strategy of the electric forklift under the current working condition and use the power demand of the electric forklift under the current working condition, the available power threshold and the steering assist power to obtain the second travel motor allocation ratio and the second hydraulic motor allocation ratio as the power allocation ratio of the electric forklift under the current working condition. The seventh operation is to determine whether the current working condition of the electric forklift is hydraulic lifting. If so, the remaining power is obtained by using the power demand of the current working condition of the electric forklift and the available power threshold, and the eighth operation is executed. Otherwise, the ninth operation is executed. The eighth operation is as follows: determine whether the remaining power is less than the remaining power threshold. If so, combine the priority allocation strategy of the current working condition of the electric forklift to obtain the third travel motor allocation ratio and the third steering assist allocation ratio as the power allocation ratio of the current working condition of the electric forklift. Otherwise, combine the priority allocation strategy of the current working condition of the electric forklift to obtain the fourth travel motor allocation ratio as the power allocation ratio of the current working condition of the electric forklift using the power demand of the current working condition of the electric forklift and the remaining power. The ninth operation is as follows: determine whether the power demand of the electric forklift under the current operating condition is greater than the available power threshold. If so, combine the power demand of the electric forklift under the current operating condition, the available power threshold, and the steering assist power to obtain the fifth travel motor allocation ratio as the power allocation ratio of the electric forklift under the current operating condition. Otherwise, combine the priority allocation strategy of the electric forklift under the current operating condition to obtain the sixth travel motor allocation ratio, the sixth hydraulic motor allocation ratio, and the sixth steering assist allocation ratio as the power allocation ratio of the electric forklift under the current operating condition.

7. The method for distributing output power to an electric forklift according to claim 2, characterized in that, Based on the initial power allocation result, energy balance is performed to obtain the final power allocation result, including: Determine whether the initial power distribution result is a drive distribution result. If so, execute the tenth operation; otherwise, perform braking energy balancing based on the initial power distribution result to obtain the final power distribution result. The tenth operation is as follows: determine whether the walking motor of the initial power distribution result is in a driving state. If so, perform driving energy balancing according to the initial power distribution result to obtain the final power distribution result; otherwise, obtain the initial power distribution result as the final power distribution result.

8. The method for distributing output power to an electric forklift according to claim 7, characterized in that, Based on the initial power distribution result, braking energy balancing is performed to obtain the final power distribution result, including: Based on the current operating conditions of the electric forklift, obtain the energy recovery value of the walking motor braking. Based on the current state of charge of the battery, the maximum allowable charging power of the battery, and the battery temperature parameters, the safe receiving charging power of the battery is obtained; The braking energy recovery value of the walking motor and the safe charging power received by the battery are used to balance the braking energy and generate a braking energy balance result. The braking distance is calculated based on the initial power distribution result and the braking energy balance result to obtain the actual braking distance of the electric forklift. The strategy is adjusted based on the braking distance to obtain the final power distribution result.

Images