Motor controller and pallet truck with same

Abstract

The utility model relates to a motor controller and a pallet truck with the motor controller, the motor controller comprises a control module and a semiconductor power device circuit, the control module is electrically connected with the semiconductor power device circuit; the control module is used for generating a first chopping control signal according to the lifting control instruction; and the semiconductor power device circuit is used for controlling the voltage value output to the lifting motor according to the first chopping control signal, so that the control on the output voltage value of the lifting motor is realized, and the problem of instant large current caused by direct power-on when the lifting motor is started is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of motors, in particular to a motor controller and a pallet truck with the motor controller. Background Art

[0002] A pallet truck is a vehicle used to lift objects to a certain height in production and daily life. A pallet truck usually achieves the lifting function of objects by driving a lifting oil pump through a lifting motor to fill the lifting cylinder with hydraulic oil.

[0003] When the existing pallet truck is loaded and lifted, the controller outputs a signal to connect the relay, allowing the lifting motor to pass direct current. The lifting motor immediately rotates at the maximum speed, driving the lifting oil pump to deliver oil to the lifting cylinder, driving the pallet truck's fork to rise. In this way, at the moment the relay is turned on, the lifting motor has a large impact current, often more than 100A, or even hundreds of amperes. In this way, the lifting motor is frequently subjected to current impacts, which will reduce its service life. At the same time, the motor starts at high speed, and the oil pump is subjected to mechanical impact, which will also reduce its service life. In addition, the large current causes greater loss to the relay, resulting in a reduction in the life of the relay.

[0004] Therefore, how to solve the problem of large instantaneous start-up current caused by the existing lifting motor using relay control is a problem that needs to be solved at present. Utility Model Content

[0005] In view of the deficiencies of the above-mentioned related technologies, the purpose of the present application is to provide a motor controller and a pallet truck having the motor controller, aiming to solve the problem of large instantaneous start-up current caused by the existing lifting motor controlled by relays.

[0006] A motor controller comprises: a control module and a semiconductor power device circuit, wherein the control module is electrically connected to the semiconductor power device circuit;

[0007] The control module is used to generate a first chopping control signal according to the lifting control instruction;

[0008] The semiconductor power device circuit is used to control the voltage value output to the lifting motor according to the first chopping control signal.

[0009] The above-mentioned motor controller includes a control module and a semiconductor power device circuit, wherein the control module generates a first chopping control signal according to a lifting control instruction, and the semiconductor power device circuit controls the voltage value output to the lifting motor according to the first chopping control signal, thereby realizing the control of the output voltage value of the lifting motor and avoiding the problem of instantaneous large current caused by direct power-on of the lifting motor at startup.

[0010] Optionally, the lifting motor comprises a DC lifting motor;

[0011] The semiconductor power device circuit includes a semiconductor power device arranged between the positive electrode of the DC power supply and the positive electrode of the DC lifting motor.

[0012] Optionally, the lifting motor comprises an AC lifting motor;

[0013] The semiconductor power device circuit comprises a first semiconductor power device circuit, a second semiconductor power device circuit and a third semiconductor power device circuit connected in parallel; the first semiconductor power device circuit comprises a first semiconductor power device and a second semiconductor power device connected in series, the second semiconductor power device circuit comprises a third semiconductor power device and a fourth semiconductor power device connected in series, and the third semiconductor power device circuit comprises a fifth semiconductor power device and a sixth semiconductor power device connected in series;

[0014] A first input terminal of the AC lifting motor is arranged between the first semiconductor power device and the second semiconductor power device, a second input terminal of the AC lifting motor is arranged between the third semiconductor power device and the fourth semiconductor power device, and a third input terminal of the AC lifting motor is arranged between the fifth semiconductor power device and the sixth semiconductor power device.

[0015] Optionally, it further includes a walking control module and a walking semiconductor power device circuit, wherein the walking semiconductor power device circuit is electrically connected to the walking control module;

[0016] The walking control module is used to generate a second chopping control signal according to the walking start control instruction;

[0017] The walking semiconductor power device circuit is used to control the voltage value output to the walking motor according to the second chopping control signal.

[0018] Optionally, a walking direction control module is further included, and the walking semiconductor power device circuit is electrically connected to the walking direction control module;

[0019] The walking direction control module is used to generate a third chopping control signal according to the walking direction control instruction;

[0020] The walking semiconductor power device circuit is used to control the rotation direction of the walking motor according to the third chopping control signal.

[0021] Optionally, the travel motor comprises a DC travel motor;

[0022] The walking semiconductor power device circuit includes a first walking semiconductor power device circuit and a second walking semiconductor power device circuit connected in parallel; the first walking semiconductor power device circuit includes a seventh semiconductor power device and an eighth semiconductor power device connected in series, and the second walking semiconductor power device circuit includes a ninth semiconductor power device and a tenth semiconductor power device connected in series;

[0023] A first input terminal of the DC running motor is arranged between the seventh semiconductor power device and the eighth semiconductor power device, and a second input terminal of the DC running motor is arranged between the ninth semiconductor power device and the tenth semiconductor power device.

[0024] Optionally, the travel motor comprises an AC travel motor;

[0025] The walking semiconductor power device circuit includes a third walking semiconductor power device circuit, a fourth walking semiconductor power device circuit and a fifth walking semiconductor power device circuit connected in parallel; the third walking semiconductor power device circuit includes an eleventh semiconductor power device and a twelfth semiconductor power device connected in series, the fourth walking semiconductor power device circuit includes a thirteenth semiconductor power device and a fourteenth semiconductor power device connected in series, and the fifth walking semiconductor power device circuit includes a fifteenth semiconductor power device and a sixteenth semiconductor power device connected in series;

[0026] A first input terminal of the AC walking motor is arranged between the eleventh semiconductor power device and the twelfth semiconductor power device, a second input terminal of the AC walking motor is arranged between the thirteenth semiconductor power device and the fourteenth semiconductor power device, and a third input terminal of the AC walking motor is arranged between the fifteenth semiconductor power device and the sixteenth semiconductor power device.

[0027] Optionally, the control module, the semiconductor power device circuit, the walking control module, the walking semiconductor power device circuit and the walking direction control module are integrated in the same device.

[0028] Based on the same inventive concept, the present application also provides a pallet truck, comprising: a lifting motor and any motor controller provided in the present application, wherein the lifting motor is electrically connected to the motor controller;

[0029] The motor controller is used to control the voltage value output to the lifting motor.

[0030] In the above-mentioned pallet truck, the lifting motor thereof controls the input voltage value through the motor controller, thereby realizing the control of the input voltage value of the lifting motor by the pallet truck and avoiding the problem of instantaneous high current caused by direct power-on of the lifting motor at startup.

[0031] Optionally, it further comprises a walking motor, wherein the walking motor is electrically connected to the motor controller;

[0032] The motor controller is used to control the voltage value output to the travel motor and control the rotation direction of the travel motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic diagram of a motor controller provided in this embodiment;

[0034] Figure 2 A schematic diagram of the structure of a semiconductor power device circuit when a motor controller provided in this embodiment adopts a DC lifting motor;

[0035] Figure 3 A schematic diagram of the structure of a semiconductor power device circuit when a motor controller provided in this embodiment adopts an AC lifting motor;

[0036] Figure 4 A schematic diagram of another motor controller provided in this embodiment;

[0037] Figure 5 A schematic diagram of the structure of a semiconductor power device circuit when a motor controller provided in this embodiment uses a DC running motor;

[0038] Figure 6 A schematic diagram of the structure of a semiconductor power device circuit when a motor controller provided in this embodiment uses an AC running motor;

[0039] Figure 7 A schematic diagram of the process steps of a motor control method for a pallet truck provided in this embodiment. DETAILED DESCRIPTION

[0040] In order to facilitate the understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are given in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thoroughly and comprehensively understood.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0042] When the existing pallet truck is loaded and lifted, the controller outputs a signal to connect the relay, allowing the lifting motor to pass direct current. The lifting motor immediately rotates at the maximum speed, driving the lifting oil pump to deliver oil to the lifting cylinder, driving the pallet truck's fork to rise. In this way, at the moment the relay is turned on, the lifting motor has a very large impact current, often more than 100A, or even hundreds of amperes. In this way, the lifting motor is frequently subjected to current impacts, which will reduce its service life. At the same time, the motor starts at high speed, and the oil pump is subjected to mechanical impact, which will also reduce its service life. In addition, the large current causes large losses to the relay, resulting in a reduction in the life of the relay. Therefore, how to solve the problem of large instantaneous start-up current caused by the use of relays in existing lifting motors is a problem that needs to be solved at present.

[0043] Based on this, the present application hopes to provide a solution that can solve the above-mentioned technical problems, the details of which will be described in the subsequent embodiments.

[0044] The present application provides a motor controller, comprising: a control module and a semiconductor power device circuit, wherein the control module is electrically connected to the semiconductor power device circuit;

[0045] The control module is used to generate a first chopping control signal according to the lifting control instruction;

[0046] The semiconductor power device circuit is used to control the voltage value output to the lifting motor according to the first chopping control signal.

[0047] See also Figure 1 , Figure 1 The schematic diagram of the motor controller provided in this embodiment is shown in FIG. The motor controller 10 includes: a control module 11 and a semiconductor power device circuit 12, wherein the control module 11 is electrically connected to the semiconductor power device circuit 12; the control module 11 obtains a lifting control instruction from a control instruction input terminal, and generates a corresponding first chopping control signal after obtaining the lifting control instruction; after receiving the first chopping control signal, the semiconductor power device circuit 12 controls the voltage value output to the lifting motor according to the first chopping control signal.

[0048] It is understandable that the chopping signal is a frequency modulated signal, and the output voltage value is adjusted by changing the duty cycle of the peaks and troughs in the chopping signal. In this embodiment, the control module does not immediately generate a full-power chopping control signal upon receiving the control instruction, but gradually increases the duty cycle of the chopping control signal until it rises to a normal working state, thereby avoiding the generation of instantaneous large current at startup. At the same time, the semiconductor power devices in this embodiment may include but are not limited to IGBT (Insulate-Gate Bipolar Transistor: Insulated Gate Bipolar Transistor).

[0049] In another optional embodiment, the lifting motor comprises a DC lifting motor;

[0050] The semiconductor power device circuit includes a semiconductor power device arranged between the positive electrode of the DC power supply and the positive electrode of the DC lifting motor.

[0051] See also Figure 2 , Figure 2 A schematic diagram of the structure of a semiconductor power device circuit when a motor controller provided in this embodiment uses a DC lifting motor. Figure 2 In the embodiment, when the lifting motor is a DC lifting motor, the semiconductor power device circuit 12 includes a semiconductor power device 120 arranged between the positive pole of the DC power supply and the positive pole of the DC lifting motor, wherein 120 is a semiconductor power device and its function is similar to that of a switch. The semiconductor power device 120 can realize the conduction and shutdown of the circuit according to the frequency of the chopping signal.

[0052] In another optional embodiment, the lifting motor includes an AC lifting motor, and may specifically be an AC permanent magnet lifting motor;

[0053] The semiconductor power device circuit comprises a first semiconductor power device circuit, a second semiconductor power device circuit and a third semiconductor power device circuit connected in parallel; the first semiconductor power device circuit comprises a first semiconductor power device and a second semiconductor power device connected in series, the second semiconductor power device circuit comprises a third semiconductor power device and a fourth semiconductor power device connected in series, and the third semiconductor power device circuit comprises a fifth semiconductor power device and a sixth semiconductor power device connected in series;

[0054] A first input terminal of the AC lifting motor is arranged between the first semiconductor power device and the second semiconductor power device, a second input terminal of the AC lifting motor is arranged between the third semiconductor power device and the fourth semiconductor power device, and a third input terminal of the AC lifting motor is arranged between the fifth semiconductor power device and the sixth semiconductor power device.

[0055] See also Figure 3 , Figure 3 A schematic diagram of the structure of a semiconductor power device circuit when a motor controller provided in this embodiment uses an AC lifting motor. Figure 3In the embodiment, when the lifting motor is an AC lifting motor, the semiconductor power device circuit includes: a first semiconductor power device circuit 121, a second semiconductor power device circuit 122 and a third semiconductor power device circuit 123 connected in parallel; the first semiconductor power device circuit 121 includes a first semiconductor power device 7 and a second semiconductor power device 8 connected in series, the second semiconductor power device circuit 122 includes a third semiconductor power device 9 and a fourth semiconductor power device 10 connected in series, and the third semiconductor power device circuit 123 includes a fifth semiconductor power device 11 and a sixth semiconductor power device 12 connected in series; a first input terminal of the AC lifting motor is provided between the first semiconductor power device 7 and the second semiconductor power device 8, a second input terminal of the AC lifting motor is provided between the third semiconductor power device 9 and the fourth semiconductor power device 10, and a third input terminal of the AC lifting motor is provided between the fifth semiconductor power device 11 and the sixth semiconductor power device 12.

[0056] In another optional embodiment, the motor controller further includes a walking control module and a walking semiconductor power device circuit, and the walking semiconductor power device circuit is electrically connected to the walking control module;

[0057] The walking control module is used to generate a second chopping control signal according to the walking start control instruction;

[0058] The walking semiconductor power device circuit is used to control the voltage value output to the walking motor according to the second chopping control signal.

[0059] See Figure 4 , Figure 4 A schematic diagram of another motor controller provided in this embodiment. Figure 4 The motor controller also includes a walking control module 13 and a walking semiconductor power device circuit 14. The walking semiconductor power device circuit 14 is electrically connected to the walking control module 13. The walking control module 13 is used to generate a second chopping control signal according to a walking start control instruction. The walking start control instruction here is generated by a control instruction input terminal; the walking semiconductor power device circuit 14 is used to control the voltage value output to the walking motor 30 according to the second chopping control signal.

[0060] In another optional embodiment, the motor controller further includes a walking direction control module, and the walking semiconductor power device circuit is electrically connected to the walking direction control module;

[0061] The walking direction control module is used to generate a third chopping control signal according to the walking direction control instruction;

[0062] The walking semiconductor power device circuit is used to control the rotation direction of the walking motor according to the third chopping control signal.

[0063] See also Figure 4 , Figure 4 The motor controller also includes a walking direction control module 15, and a walking semiconductor power device circuit 14 is electrically connected to the walking direction control module 15. The walking direction control module 15 is used to generate a third chopping control signal according to a walking direction control instruction, and the walking direction control instruction here is generated by a control instruction input end; the walking semiconductor power device circuit 14 is used to control the rotation direction of the walking motor according to the third chopping control signal.

[0064] In another optional embodiment, the travel motor includes a DC travel motor;

[0065] The walking semiconductor power device circuit includes a first walking semiconductor power device circuit and a second walking semiconductor power device circuit connected in parallel; the first walking semiconductor power device circuit includes a seventh semiconductor power device and an eighth semiconductor power device connected in series, and the second walking semiconductor power device circuit includes a ninth semiconductor power device and a tenth semiconductor power device connected in series;

[0066] A first input terminal of the DC running motor is arranged between the seventh semiconductor power device and the eighth semiconductor power device, and a second input terminal of the DC running motor is arranged between the ninth semiconductor power device and the tenth semiconductor power device.

[0067] See also Figure 5 , Figure 5 A schematic diagram of the structure of a semiconductor power device circuit when a motor controller provided in this embodiment uses a DC running motor. Figure 5 In the figure, the walking semiconductor power device circuit 14 includes a first walking semiconductor power device circuit 141 and a second walking semiconductor power device circuit 142 connected in parallel, the first walking semiconductor power device circuit 141 includes a seventh semiconductor power device 1 and an eighth semiconductor power device 2 connected in series, and the second walking semiconductor power device circuit 142 includes a ninth semiconductor power device 3 and a tenth semiconductor power device 4 connected in series; a first input terminal of a DC walking motor is provided between the seventh semiconductor power device 1 and the eighth semiconductor power device 2, and a second input terminal of a DC walking motor is provided between the ninth semiconductor power device 3 and the tenth semiconductor power device 4.

[0068] In another optional embodiment, the travel motor includes an AC travel motor, and specifically may be an AC permanent magnet travel motor;

[0069] The walking semiconductor power device circuit includes a third walking semiconductor power device circuit, a fourth walking semiconductor power device circuit and a fifth walking semiconductor power device circuit connected in parallel; the third walking semiconductor power device circuit includes an eleventh semiconductor power device and a twelfth semiconductor power device connected in series, the fourth walking semiconductor power device circuit includes a thirteenth semiconductor power device and a fourteenth semiconductor power device connected in series, and the fifth walking semiconductor power device circuit includes a fifteenth semiconductor power device and a sixteenth semiconductor power device connected in series;

[0070] A first input terminal of the AC walking motor is arranged between the eleventh semiconductor power device and the twelfth semiconductor power device, a second input terminal of the AC walking motor is arranged between the thirteenth semiconductor power device and the fourteenth semiconductor power device, and a third input terminal of the AC walking motor is arranged between the fifteenth semiconductor power device and the sixteenth semiconductor power device.

[0071] See also Figure 6 , Figure 6 A schematic diagram of the structure of a semiconductor power device circuit when a motor controller provided in this embodiment uses an AC running motor. Figure 6 The semiconductor power device circuit 14 includes a third walking semiconductor power device circuit 143, a fourth walking semiconductor power device circuit 144 and a fifth walking semiconductor power device circuit 145 connected in parallel; the third walking semiconductor power device circuit 143 includes an eleventh semiconductor power device 21 and a twelfth semiconductor power device 22 connected in series, the fourth walking semiconductor power device circuit 144 includes a thirteenth semiconductor power device 23 and a fourteenth semiconductor power device 24 connected in series, and the fifth walking semiconductor power device circuit 145 includes a fifteenth semiconductor power device 25 and a sixteenth semiconductor power device 26 connected in series; a first input terminal of an AC walking motor is provided between the eleventh semiconductor power device 21 and the twelfth semiconductor power device 22, a second input terminal of the AC walking motor is provided between the thirteenth semiconductor power device 23 and the fourteenth semiconductor power device 24, and a third input terminal of the AC walking motor is provided between the fifteenth semiconductor power device 25 and the sixteenth semiconductor power device 26.

[0072] It is understandable that in actual applications, the combination of walking motor and lifting motor is not limited to Figure 5 DC walking motor and DC lifting motor in Figure 6 In addition to the AC travel motor and AC lifting motor, a DC travel motor and an AC lifting motor, or a combination of an AC travel motor and a DC lifting motor can also be used.

[0073] In another optional embodiment, the control module, the semiconductor power device circuit, the walking control module, the walking semiconductor power device circuit and the walking direction control module are integrated into the same device.

[0074] See also Figure 7 , Figure 7 A schematic diagram of another motor controller provided in this embodiment. Figure 7 The control module 11, semiconductor power device circuit 12, walking control module 13, walking semiconductor power device circuit 14 and walking direction control module 15 are integrated in the same device. By integrating these modules and circuits in one device, the integration level can be improved, thereby reducing the size of the motor controller.

[0075] The present application provides a motor controller, including: a control module and a semiconductor power device circuit, the control module is electrically connected to the semiconductor power device circuit; the control module is used to generate a first chopping control signal according to a lifting control instruction; the semiconductor power device circuit is used to control the voltage value output to the lifting motor according to the first chopping control signal, thereby realizing the control of the output voltage value of the lifting motor and avoiding the problem of instantaneous large current caused by direct power-on of the lifting motor at startup.

[0076] Another embodiment of the utility model

[0077] Another embodiment of the present embodiment provides a pallet truck, comprising: a lifting motor and a motor controller as described in any one of the present applications, wherein the lifting motor is electrically connected to the motor controller; and the motor controller is used to control a voltage value output to the lifting motor.

[0078] In another embodiment, the pallet truck further includes a travel motor, and the travel motor is electrically connected to the motor controller; the motor controller is used to control the voltage value output to the travel motor and control the rotation direction of the travel motor.

[0079] See also Figure 1 , 4 7. This embodiment provides a pallet truck, in which the lifting motor controls the input voltage value through a motor controller, and the traveling motor also controls the input voltage value through a motor controller, thereby realizing the control of the input voltage values ​​of the lifting motor and the traveling motor by the pallet truck, and avoiding the problem of instantaneous large current caused by direct power-on of the lifting motor during lifting and traveling.

[0080] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made according to the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A motor controller, characterized in that: include: A control module and a semiconductor power device circuit, wherein the control module is electrically connected to the semiconductor power device circuit; The control module is used to generate a first chopping control signal according to the lifting control instruction; The semiconductor power device circuit is used to control the voltage value output to the lifting motor according to the first chopping control signal.

2. The motor controller according to claim 1, characterized in that: The lifting motor comprises a DC lifting motor; The semiconductor power device circuit includes a semiconductor power device arranged between the positive electrode of the DC power supply and the positive electrode of the DC lifting motor.

3. The motor controller according to claim 1, characterized in that: The lifting motor comprises an AC lifting motor; The semiconductor power device circuit comprises a first semiconductor power device circuit, a second semiconductor power device circuit and a third semiconductor power device circuit connected in parallel; the first semiconductor power device circuit comprises a first semiconductor power device and a second semiconductor power device connected in series, the second semiconductor power device circuit comprises a third semiconductor power device and a fourth semiconductor power device connected in series, and the third semiconductor power device circuit comprises a fifth semiconductor power device and a sixth semiconductor power device connected in series; A first input terminal of the AC lifting motor is arranged between the first semiconductor power device and the second semiconductor power device, a second input terminal of the AC lifting motor is arranged between the third semiconductor power device and the fourth semiconductor power device, and a third input terminal of the AC lifting motor is arranged between the fifth semiconductor power device and the sixth semiconductor power device.

4. The motor controller according to claim 1, characterized in that: It also includes a walking control module and a walking semiconductor power device circuit, wherein the walking semiconductor power device circuit is electrically connected to the walking control module; The walking control module is used to generate a second chopping control signal according to the walking start control instruction; The walking semiconductor power device circuit is used to control the voltage value output to the walking motor according to the second chopping control signal.

5. The motor controller according to claim 4, characterized in that: It also includes a walking direction control module, and the walking semiconductor power device circuit is electrically connected to the walking direction control module; The walking direction control module is used to generate a third chopping control signal according to the walking direction control instruction; The walking semiconductor power device circuit is used to control the rotation direction of the walking motor according to the third chopping control signal.

6. The motor controller according to claim 5, characterized in that: The travel motor comprises a DC travel motor; The walking semiconductor power device circuit includes a first walking semiconductor power device circuit and a second walking semiconductor power device circuit connected in parallel; the first walking semiconductor power device circuit includes a seventh semiconductor power device and an eighth semiconductor power device connected in series, and the second walking semiconductor power device circuit includes a ninth semiconductor power device and a tenth semiconductor power device connected in series; A first input terminal of the DC running motor is arranged between the seventh semiconductor power device and the eighth semiconductor power device, and a second input terminal of the DC running motor is arranged between the ninth semiconductor power device and the tenth semiconductor power device.

7. The motor controller according to claim 5, characterized in that: The travel motor comprises an AC travel motor; The walking semiconductor power device circuit includes a third walking semiconductor power device circuit, a fourth walking semiconductor power device circuit and a fifth walking semiconductor power device circuit connected in parallel; the third walking semiconductor power device circuit includes an eleventh semiconductor power device and a twelfth semiconductor power device connected in series, the fourth walking semiconductor power device circuit includes a thirteenth semiconductor power device and a fourteenth semiconductor power device connected in series, and the fifth walking semiconductor power device circuit includes a fifteenth semiconductor power device and a sixteenth semiconductor power device connected in series; A first input terminal of the AC walking motor is arranged between the eleventh semiconductor power device and the twelfth semiconductor power device, a second input terminal of the AC walking motor is arranged between the thirteenth semiconductor power device and the fourteenth semiconductor power device, and a third input terminal of the AC walking motor is arranged between the fifteenth semiconductor power device and the sixteenth semiconductor power device.

8. The motor controller according to any one of claims 5 to 7, characterized in that: The control module, the semiconductor power device circuit, the walking control module, the walking semiconductor power device circuit and the walking direction control module are integrated into the same device.

9. A pallet truck, characterized in that: include: A lifting motor and a motor controller according to any one of claims 1 to 8, wherein the lifting motor is electrically connected to the motor controller; The motor controller is used to control the voltage value output to the lifting motor.

10. The pallet truck according to claim 9, characterized in that: It also includes a walking motor, which is electrically connected to the motor controller; The motor controller is used to control the voltage value output to the travel motor and control the rotation direction of the travel motor.

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