Energy saving control method for a vehicle based on a long corner sensor and an electric industrial vehicle

Abstract

The present application relates to the technical field of motor control, and discloses an energy-saving control method for a vehicle based on a long-angle sensor and an electric industrial vehicle. The energy-saving control method quickly and accurately obtains the slope of the driving road surface through the long-angle sensor on the portal, matches the rated operating parameter that the motor should limit under the current slope, and changes the motor operating parameter through the motor controller, so that the throttle opening of the current throttle pedal can be reasonably adjusted in the control strategy of the speed or torque on the slope, ensuring that the electric industrial vehicle driven by the motor is in a controllable state, realizing functions such as slope starting assistance, automatic speed limiting, and kinetic energy recovery, achieving energy saving and safety control, and avoiding motor overload and burnout or excessive motor power allocation, which causes low efficiency and cost waste.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and more specifically to an energy-saving control method for vehicles based on long-angle sensors and electric industrial vehicles. Background Technology

[0002] With the continuous upgrading of global environmental regulations and increasingly stringent management and requirements for vehicle emissions, non-road (industrial) vehicles both domestically and internationally are rapidly transitioning from traditional internal combustion engines to new energy (electrification) vehicles to meet the stringent requirements of environmental regulations. Electric industrial vehicles require in-depth applied research on the core three-electric systems (battery, electric drive, and electronic control), particularly on control methods for vehicle safety and energy conservation. Typically, industrial vehicles (such as forklifts, including both internal combustion and electric vehicles) have long-angle sensors installed on the mast to allow the vehicle controller to detect and monitor the current mast lifting height and tilt angle in real time for vehicle safety control. However, in existing technologies, when electric industrial vehicles travel on roads with varying slopes, the power, speed, and torque of the motor corresponding to the accelerator pedal are often over-distributed, easily leading to wasted motor power. Furthermore, when traveling on steep slopes, it is difficult to quickly limit the motor speed and torque, potentially causing runaway and loss of control. This makes it impossible to achieve safe and energy-saving control of electric industrial vehicles and ensure operational safety. There is a lack of a simple and quick method to adjust the motor's operating state, reducing additional motor consumption while ensuring vehicle safety. Summary of the Invention

[0003] To overcome the aforementioned technical problems, this invention provides an energy-saving control method for vehicles based on a long-angle sensor and an electric industrial vehicle. This energy-saving control method uses a long-angle sensor built into the mast to quickly and accurately obtain the slope of the road surface, matches the rated operating parameters that the motor should limit under the current slope, and changes the motor operating parameters through the motor controller. This allows the throttle opening of the accelerator pedal to be adjusted reasonably for speed or torque control strategies at that slope, ensuring that the electric industrial vehicle driven by the motor is in a controllable state. It realizes functions such as slope start assist, automatic speed limiting, and kinetic energy recovery, achieving energy saving and safety control, and avoiding motor overload burnout or inefficiency and cost waste caused by excessive power supply to the motor.

[0004] To achieve the above objectives, the present invention provides an energy-saving control method for vehicles based on a long-angle sensor, the control method comprising:

[0005] Inspecting the status of electric industrial vehicles;

[0006] Get the current road surface slope;

[0007] The control data of the motor matched to the accelerator pedal is obtained based on the slope of the road surface.

[0008] Based on the control data, control commands are issued to the motor to limit the rated operating parameters of the motor and achieve energy-saving control of the motor.

[0009] Preferably, detecting the status of electric industrial vehicles includes:

[0010] Use a self-testing system to self-test the electrical system of electric industrial vehicles;

[0011] After confirming that the circuit system is fault-free, test the long-angle sensor located on the gantry of the electric industrial vehicle;

[0012] After confirming that the long-angle sensor is not faulty, start the electric industrial vehicle to drive.

[0013] Preferably, the current road surface gradient is obtained, including:

[0014] Define the horizontal plane as the reference plane, the forward direction of the frame as the first direction axis, and the upward direction perpendicular to the first direction axis as the second direction axis;

[0015] The angle between the mast and the second direction axis after the electric industrial vehicle tilts while driving on the road is recorded as follows: When the gantry tilts forward, When the gantry is tilted backward, it is a positive value. It is a negative value;

[0016] Obtain the measurement values ​​from the long-angle sensor installed on the gantry. When the gantry tilts forward, When the gantry is tilted backward, it is a positive value. It is a negative value;

[0017] The current road slope is obtained according to formula (1). ,

[0018] (1)

[0019] in, The current road gradient is [gradient]. The value is positive, indicating that the current road surface is uphill. If the value is negative, the current road surface is downhill.

[0020] Preferably, the control data of the motor matched to the accelerator pedal is obtained based on the slope of the road surface, including:

[0021] Construct a data table of motor speed and torque matching the accelerator pedal under different road surface slopes;

[0022] Get the slope of the current road surface;

[0023] Based on the current road surface gradient, query and obtain the control data of the speed and torque of the motor matched with the accelerator pedal.

[0024] Preferably, a table of motor speed and torque data for matching the accelerator pedal under different slopes is constructed, including:

[0025] Obtain the overall vehicle parameters and design parameters of electric industrial vehicles;

[0026] Based on the vehicle parameters and design parameters, a traction performance calculation method was used to obtain data tables of motor power, speed and torque under different operating conditions;

[0027] Based on different road surface slopes, a data table is constructed to match the motor speed and torque of the accelerator pedal.

[0028] Preferably, a data table of motor power, speed, and torque under different operating conditions is obtained using traction performance calculation methods based on vehicle parameters and design parameters, including:

[0029] Obtain the vehicle parameters of electric industrial vehicles, including the vehicle's maximum gross weight, the total transmission ratio and transmission efficiency of the transmission system, the air resistance coefficient, the rolling resistance coefficient, and the vehicle's rolling radius;

[0030] Obtain the design parameters of electric industrial vehicles, including the vehicle's maximum speed, maximum gradeability, and rated speed acceleration time.

[0031] Calculate the power requirements of electric industrial vehicles under different road surface slopes, and perform safety redundancy compensation to determine the final power requirements under different road surface slopes.

[0032] Based on the final power requirements under different road surface slopes, the torque and speed of the corresponding motor are calculated according to formulas (2)-(3).

[0033] (2)

[0034] (3)

[0035] in, This refers to the motor's rotational speed. For the speed of electric industrial vehicles. This is the transmission ratio coefficient. For the vehicle's rolling radius, This refers to the motor's power. This represents the motor's torque.

[0036] After integrating all the calculation results, a data table of motor power, speed and torque under different operating conditions is constructed.

[0037] Preferably, control commands are issued to the motor based on control data to limit the motor's rated operating parameters and achieve energy-saving control of the motor, including:

[0038] Obtain the control command of the motor that matches the current control data, limit the current rated operating state of the motor, and construct the current driving control mode of the motor;

[0039] The accelerator pedal is used to adjust the throttle opening in the current motor driving control mode;

[0040] It can traction electric industrial vehicles and achieve energy-saving control of the motor.

[0041] A second aspect of the present invention provides an electric industrial vehicle, the electric industrial vehicle comprising a vehicle body and a motor controller, the motor controller being configured to execute the energy-saving control method as described in any of the preceding claims.

[0042] Through the above technical solution, this energy-saving control method quickly and accurately obtains the slope of the driving road surface by using the long-angle sensor built into the gantry in conjunction with the static offset of the gantry. According to the normal parameters and design parameters of electric industrial vehicles, it uses traction performance calculation methods to obtain a data table of the rated operating parameters of the motor under different slope conditions. It matches the rated operating parameters that the motor should limit under the current slope according to the current driving road slope, and realizes the modification of the motor operating parameters through the motor controller. This allows the throttle opening of the current accelerator pedal to be adjusted with a reasonable speed or torque control strategy at this slope, ensuring that the electric industrial vehicle driven by the motor is in a controllable state. It realizes functions such as slope start assistance, automatic speed limiting, and kinetic energy recovery, avoids loss of control when going uphill, achieves energy saving and safety control, and avoids motor overload burnout or inefficiency and cost waste caused by excessive power supplied to the motor. Attached Figure Description

[0043] Figure 1 This is a flowchart of an energy-saving control method for a vehicle based on a long-angle sensor according to an embodiment of the present invention.

[0044] Figure 2 This is a flowchart illustrating the generation of data tables of motor power, speed, and torque under different operating conditions in an energy-saving control method for a vehicle based on a long-angle sensor according to an embodiment of the present invention. Detailed Implementation

[0045] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0046] like Figure 1This is a flowchart illustrating an energy-saving control method for a vehicle based on a long-angle sensor, according to an embodiment of the present invention. Figure 1 In this context, the energy-saving control method may include:

[0047] In step S10, the status of the electric industrial vehicle is detected;

[0048] In step S11, the current road surface slope is obtained;

[0049] In step S12, control data of the motor matched to the accelerator pedal is obtained based on the slope of the road surface.

[0050] In step S13, control commands for the motor are issued based on the control data matching, limiting the rated operating parameters of the motor to achieve energy-saving control of the motor.

[0051] Step S10 involves monitoring and self-checking the battery status, motor status, and vehicle attitude using the electric industrial vehicle's self-testing system to ensure the normal operation of the circuit system. Simultaneously, it detects the long-angle sensor on the gantry to ensure its proper functioning.

[0052] Step S11 can use the built-in long angle sensor on the gantry and the static offset of the gantry tilt to calculate the slope of the driving road surface according to the corresponding formula. The detection is convenient and reliable, reduces additional devices, and lowers manufacturing costs.

[0053] Step S12 can query and obtain the optimal power, torque and speed control data of the motor corresponding to the accelerator pedal based on the current slope and vehicle load.

[0054] Step S13 can generate efficient control commands that the motor needs to execute based on the corresponding control data, limit the rated operating parameters of the motor, accurately control the motor current, allow the motor to operate in the efficient range, and limit the maximum output power or torque of the motor when driving on steep roads to avoid inefficiency and component wear, and prevent the danger of runaway due to excessive power.

[0055] To ensure proper start-up control of electric industrial vehicles and avoid situations where gradient detection fails, in one embodiment of this invention, detecting the electric industrial vehicle's status may include the following steps: using a self-testing system to self-test the electric industrial vehicle's electrical system; confirming that the electrical system is fault-free, testing the long angle sensor located on the mast of the electric industrial vehicle; confirming that the long angle sensor is fault-free, starting the electric industrial vehicle. By utilizing the electric industrial vehicle's built-in self-testing system to test the vehicle's electrical system, and ensuring the electrical system is functioning correctly, testing the long angle sensor on the mast, and starting the electric industrial vehicle when the sensor is functioning correctly, the vehicle is kept in a safe and controllable state, laying a solid foundation for subsequent adjustments to the control strategy.

[0056] To accurately and easily obtain the slope of the current driving road surface, in one embodiment of the present invention, obtaining the slope of the current driving road surface may include the following steps:

[0057] Define the horizontal plane as the reference plane, the forward direction of the frame as the first direction axis, and the upward direction perpendicular to the first direction axis as the second direction axis;

[0058] The angle between the mast and the second direction axis after the electric industrial vehicle tilts while driving on the road is recorded as follows: When the gantry tilts forward, When the gantry is tilted backward, it is a positive value. It is a negative value;

[0059] Synchronously acquire the measurement values ​​from the long-angle sensor installed on the gantry. When the gantry tilts forward, When the gantry is tilted backward, it is a positive value. It is a negative value;

[0060] The current road slope is obtained according to formula (1). ,

[0061] (1)

[0062] in, The current road gradient is [gradient]. The value is positive, indicating that the current road surface is uphill. A negative value indicates the current road surface is downhill. Position the electric industrial vehicle on a horizontal surface, ensure the gantry is vertical, perform angle calibration to ensure no errors, and simultaneously acquire... and The data value is used to calculate the current road slope using the motor controller according to the above formula. This facilitates subsequent motor control data matching for slope adjustment. The structure is simple, low-cost, fast-responding, and the calculation logic is simple, meeting the real-time control requirements of most electric industrial vehicles. In one embodiment of the invention, when the vehicle is going uphill, +5°, gantry tilt backward, -5° When it is 0°, it can be calculated that The angle is 5°, which verifies that the vehicle is going uphill; when the vehicle is going uphill... +5°, gantry vertical. 0° When the angle is -5°, the following can be calculated: The angle is 5°, which verifies that the vehicle is going uphill; when the vehicle is going downhill... -5°, gantry tilted back. -5° When the angle is 10°, it can be calculated that The angle is -5°, which verifies that the vehicle is going downhill.

[0063] To achieve efficient control and adjustment of the motor's operation under the current slope, save energy, and protect vehicle safety, in one embodiment of the present invention, obtaining control data of the motor matched to the accelerator pedal based on the slope of the driving road can include the following steps: constructing a data table of the speed and torque of the motor matched to the accelerator pedal under different driving road slopes; obtaining the current driving road slope; and querying and obtaining the control data of the speed and torque of the motor matched to the accelerator pedal based on the current driving road slope. By constructing the optimal operating parameters of the motor corresponding to the real-time slope, and based on the input real-time slope and a certain range of throttle opening, the optimal target motor speed and target motor torque under the current operating conditions are output, and the required data table is constructed. The current slope value is accurately and conveniently obtained in real time through the above-mentioned slope measurement method. The optimal operating parameters of the motor to be executed are obtained by looking up the table based on the slope value, so that the operator can execute them, intelligently allocate power, avoid energy waste caused by adaptive adjustment, and achieve fast and responsive driving.

[0064] To construct a control data table for slope and motor operating parameters, ensuring energy saving and safe driving of the vehicle, in one embodiment of the present invention, constructing a data table of motor speed and torque matched to the accelerator pedal under different slopes may include the following steps: obtaining the overall vehicle parameters and design parameters of the electric industrial vehicle; using traction performance calculation methods based on the overall vehicle parameters and design parameters to obtain data tables of motor power, speed, and torque under different operating conditions; and constructing a data table of motor speed and torque matched to the accelerator pedal based on different road surface slopes. First, it is necessary to obtain the overall vehicle parameters and design parameters of the electric industrial vehicle, which can be determined using the information inherent in the electric industrial vehicle. Second, calculate the core information such as the motor power required by the vehicle under different operating conditions. Then, based on the set slope and the calculated core information, construct a control data table and set a control strategy. On gentle slopes and flat roads, prioritize speed to ensure that the vehicle speed can meet the requirements of constant speed and slight acceleration. When going uphill on steep slopes, prioritize torque, even with a small throttle opening, to meet a large basic torque to prevent the vehicle from rolling back and compromise driving safety. When the throttle is pressed deeply, the motor should also output peak torque to meet the climbing requirements. When going downhill, it is necessary to combine regenerative braking with reasonable speed settings to prevent loss of control while recovering kinetic energy, thereby improving the safety and energy efficiency of vehicle handling.

[0065] like Figure 2 The diagram shown is a flowchart illustrating the generation of data tables for motor power, speed, and torque under different operating conditions in an energy-saving control method for a vehicle based on a long-angle sensor according to an embodiment of the present invention. Figure 2 In order to achieve accurate calculation of the control data table, meet the requirements for constructing the data table for specific vehicles, and conform to intelligent road condition adaptation, in one embodiment of the present invention, the data table for the power, speed, and torque of the motor under different operating conditions obtained by using a traction performance calculation method based on the vehicle parameters and design parameters may include the following data:

[0066] In step S20, the vehicle parameters of the electric industrial vehicle are obtained, including the vehicle's maximum gross weight, the total transmission ratio and transmission efficiency of the transmission system, the air resistance coefficient, the rolling resistance coefficient, and the vehicle's rolling radius. By determining the inherent physical characteristics of the vehicle, subsequent calculations are facilitated.

[0067] In step S21, the design parameters of the electric industrial vehicle are obtained, including the vehicle's maximum speed, maximum gradeability, and rated speed acceleration time. By performing drive calculations on the motor, it is necessary to set reasonable constraint values ​​to ensure that the motor can operate under these design parameters.

[0068] In step S22, the power requirements of the electric industrial vehicle under different road surface slopes are calculated and obtained, and safety redundancy compensation is performed to determine the final power requirements under different road surface slopes; this ensures that uncertainties in different operating conditions, such as road surface changes and system aging, can be addressed to guarantee the safe operation of the vehicle and the safety of life and property.

[0069] In step S23, the torque and speed of the corresponding motor are calculated according to formulas (2)-(3) based on the final power requirements under different road surface slopes.

[0070] (2)

[0071] (3)

[0072] in, This refers to the motor's rotational speed. For the speed of electric industrial vehicles. This is the transmission ratio coefficient. For the vehicle's rolling radius, This refers to the motor's power. This refers to the motor's torque. Considering that the torque and speed requirements differ for different gradients, a reasonable control strategy needs to be set to meet the maximum gradient requirement in the constant torque region and the high-speed requirement in the constant power region, thus ensuring smooth vehicle operation.

[0073] In step S24, after integrating all the calculation results, a data table of motor power, speed and torque under different operating conditions is constructed to clarify the rated operating parameters and peak requirements of the motor. Typically, the peak torque capability is 2-3 times the rated torque to meet the maximum required ramping requirements. After the control table is generated, simulation verification is performed. The simulation data results are compared to verify the matching rationality and optimize. The impact of fluctuations in parameters such as rolling resistance coefficient and transmission efficiency on the final power requirement is analyzed to enhance the robustness of the design.

[0074] In one embodiment of the present invention, the overall parameters of an electric industrial vehicle are as follows: the maximum mass of the vehicle is 19000KG, the rated lifting capacity is 16000KG, the rolling resistance coefficient is 0.02, the vehicle rolling radius is 0.53m, the transmission efficiency is 0.85, the maximum speed is 20km / h under both unloaded and fully loaded conditions, and the maximum gradeability under unloaded and fully loaded conditions is approximately 16.7° and 11.3°, respectively; the power demand for unloaded and fully loaded driving on flat ground at maximum speed is 49KW and 90KW, respectively, and the power demand for fully loaded climbing at a speed of 3km / h is 148KW; the torque demand for unloaded and fully loaded driving on flat ground is approximately 100N.M and 1. The torque required for driving at maximum gradient is approximately 1600 N·m under no-load conditions and approximately 2000 N·m under full-load conditions. The required speed is approximately 350 r / min at 3 km / h, 1200 r / min at 10 km / h, and 2300 r / min at 20 km / h. The motor's rated power and peak speed are 1084 r / min and 3500 r / min, respectively; its rated power and peak power are 135 kW and 275 kW, respectively; and its rated torque and peak torque are 1190 N·m and 2875 N·m, respectively. Based on the above vehicle parameters and design parameters, the relevant air resistance coefficients are obtained, and the motor torque and speed data at 100% throttle opening under different gradients can be calculated, as shown in Table 1 below.

[0075] Table 1

[0076]

[0077] Table 1 shows that when the vehicle is going uphill, with the throttle opening at 100%, the motor speed decreases as the slope increases. At a slope of 0°, the motor speed is 2300 rpm, and at a slope of 11.3°, the motor speed is only 350 rpm. When the vehicle is going downhill, with the throttle opening at 100%, the motor speed decreases as the absolute value of the slope increases. At a slope of -11.3°, the motor speed is only 350 rpm. When the vehicle is going uphill with the throttle open at 100%, the motor torque increases with the gradient. At a gradient of 0°, the motor torque is 200 N·m, and at a gradient of 11.3°, the motor torque is 2000 N·m. When the vehicle is going downhill with the throttle open at 100%, the motor torque decreases with the absolute value of the gradient. At a gradient of -11.3°, the motor torque is only -2000 N·m, meaning the motor provides a braking torque of 2000 N·m. The motor transforms from a motor to a generator, and the regenerative braking force provides kinetic energy recovery, saving electrical energy.

[0078] Based on the data in Table 1, a data table of motor speeds for different throttle openings during flat-ground driving and uphill driving under full load can be generated, as shown in Table 2 below.

[0079] Table 2

[0080]

[0081] In Table 2, the motor speed on flat ground and at the maximum gradient under full load increase linearly with the increase of throttle opening. When the gradient is 0°, the motor speed is 2300 rpm, and when the gradient is 11.3°, the motor speed is only 350 rpm.

[0082] Based on the data in Table 1, a data table of motor torque for fully loaded flat-ground driving and fully loaded uphill driving under different throttle openings can be generated, as shown in Table 3 below.

[0083] Table 3

[0084]

[0085] In Table 3, the motor torque on flat ground and at the maximum gradient under full load increase linearly with increasing throttle opening. At a gradient of 0°, the motor torque is 200 N·m; at a gradient of +11.3°, the motor torque is 2000 N·m. Simultaneously, at a gradient of -11.3°, the motor torque is -2000 N·m, indicating that the motor has entered regenerative braking, and this torque is the regenerative torque.

[0086] To achieve command control of the motor and enable it to quickly switch motor operating parameters to suit current road conditions, in one embodiment of the present invention, issuing control commands to the motor based on control data matching to limit the motor's rated operating parameters and achieve energy-saving control of the motor may include the following steps: obtaining the motor control command matched with the current control data, limiting the motor's current rated operating state, and constructing the current motor driving control mode; adjusting the throttle opening by driving the accelerator pedal in the current motor driving control mode; and towing the electric industrial vehicle to achieve energy-saving control of the motor. After obtaining the corresponding data, the motor controller sends commands to limit the motor's current rated operating state and adjusts the control decisions. When driving on flat ground, energy efficiency is prioritized, allowing the motor to operate in the high-efficiency high-speed range to achieve energy saving. When driving uphill, power is prioritized, ensuring the motor is in a high-torque, low-speed control mode to prevent slippage and avoid overheating and inefficiency caused by high-speed, low-torque operation. When driving downhill, speed limiting and energy recovery are prioritized, causing the motor to enter regenerative braking mode to generate electricity and charge the battery. When adjusting the throttle opening, it no longer directly corresponds to a fixed power output, but rather a smooth adjustment of the desired speed or power intensity in the current mode. It avoids abrupt mode switching or jump changes in output, ensuring smooth and safe vehicle operation. Ultimately, it enables intelligent, adaptive, and highly efficient vehicle control by dynamically adjusting the output strategy for driving electric industrial vehicles.

[0087] A second aspect of the present invention provides an electric industrial vehicle, the electric industrial vehicle comprising a vehicle body and a motor controller, the motor controller being configured to execute the energy-saving control method as described in any of the preceding claims.

[0088] Through the above technical solution, this energy-saving control method quickly and accurately obtains the slope of the driving road surface by using the long-angle sensor built into the gantry in conjunction with the static offset of the gantry. According to the normal parameters and design parameters of electric industrial vehicles, it uses traction performance calculation methods to obtain a data table of the rated operating parameters of the motor under different slope conditions. It matches the rated operating parameters that the motor should limit under the current slope according to the current driving road slope, and realizes the modification of the motor operating parameters through the motor controller. This allows the throttle opening of the current accelerator pedal to be adjusted with a reasonable speed or torque control strategy at this slope, ensuring that the electric industrial vehicle driven by the motor is in a controllable state. It realizes functions such as slope start assistance, automatic speed limiting, and kinetic energy recovery, avoids loss of control when going uphill, achieves energy saving and safety control, and avoids motor overload burnout or inefficiency and cost waste caused by excessive power supplied to the motor.

[0089] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solutions of the present invention, and these simple modifications all fall within the protection scope of the present invention. Furthermore, it should be noted that the various specific technical features described in the above embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately.

[0090] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. A vehicle energy-saving control method based on a long-angle sensor, characterized in that, The control method includes: Inspecting the status of electric industrial vehicles; Get the current road surface slope; The control data of the motor matched to the accelerator pedal is obtained based on the slope of the road surface. Based on the control data, control commands are issued to the motor to limit the rated operating parameters of the motor and achieve energy-saving control of the motor. Use a self-testing system to self-test the electrical system of electric industrial vehicles; After confirming that the circuit system is fault-free, test the long-angle sensor located on the gantry of the electric industrial vehicle; After confirming that the long-angle sensor is not faulty, start the electric industrial vehicle to drive; Define the horizontal plane as the reference plane, the forward direction of the frame as the first direction axis, and the upward direction perpendicular to the first direction axis as the second direction axis; The angle between the mast and the second direction axis after the electric industrial vehicle tilts while driving on the road is recorded as follows: When the gantry tilts forward, When the gantry is tilted backward, it is a positive value. It is a negative value; Obtain the measurement values ​​from the long-angle sensor installed on the gantry. When the gantry tilts forward, When the gantry is tilted backward, it is a positive value. It is a negative value; The current road slope is obtained according to formula (1). , ，（1） in, The current road gradient is [gradient]. The value is positive, indicating that the current road surface is uphill. A negative value indicates that the current road surface is downhill. Construct a data table of motor speed and torque matching the accelerator pedal under different road surface slopes; Get the slope of the current road surface; Based on the slope of the current road surface, query and obtain the control data of the speed and torque of the motor matched with the accelerator pedal; Obtain the control command of the motor that matches the current control data, limit the current rated operating state of the motor, and construct the current driving control mode of the motor; The accelerator pedal is used to adjust the throttle opening in the current motor driving control mode; It can traction electric industrial vehicles and achieve energy-saving control of the motor.

2. The control method according to claim 1, characterized in that, Construct a table of motor speed and torque data for matching the accelerator pedal under different inclines, including: Obtain the overall vehicle parameters and design parameters of electric industrial vehicles; Based on the vehicle parameters and design parameters, a traction performance calculation method was used to obtain data tables of motor power, speed and torque under different operating conditions; Based on different road surface slopes, a data table is constructed to match the motor speed and torque of the accelerator pedal.

3. The control method according to claim 2, characterized in that, Based on the vehicle parameters and design parameters, traction performance calculation methods were used to obtain data tables on the motor's power, speed, and torque under different operating conditions, including: Obtain the vehicle parameters of electric industrial vehicles, including the vehicle's maximum gross weight, the total transmission ratio and transmission efficiency of the transmission system, the air resistance coefficient, the rolling resistance coefficient, and the vehicle's rolling radius; Obtain the design parameters of electric industrial vehicles, including the vehicle's maximum speed, maximum gradeability, and rated speed acceleration time. Calculate the power requirements of electric industrial vehicles under different road surface slopes, and perform safety redundancy compensation to determine the final power requirements under different road surface slopes. Based on the final power requirements under different road surface slopes, the torque and speed of the corresponding motor are calculated according to formulas (2)-(3). ，（2） ，（3） in, This refers to the motor's rotational speed. For the speed of electric industrial vehicles. This is the transmission ratio coefficient. For the vehicle's rolling radius, This refers to the motor's power. This represents the motor's torque. After integrating all the calculation results, a data table of motor power, speed and torque under different operating conditions is constructed.

4. An electric industrial vehicle, characterized in that, The electric industrial vehicle includes a vehicle body and a motor controller, the motor controller being used to execute the control method as described in any one of claims 1-3.

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