Disclosed in the present invention is a hydraulic control method based on multi-execution-state data collection. The method comprises: acquiring identity information of a driver; measuring performance parameters of a hydraulic system in each execution state; after repeating n times, recording and storing the operation frequency, and an average value of performance parameters of the hydraulic system; outputting a control value; establishing a hydraulic control model for when a forklift is unloaded, and a hydraulic control model for when the forklift is loaded; and when it is identified that the driver is the same person, the hydraulic system of the forklift autonomously controlling the operation of the forklift automatically according to a hydraulic control model output. In the present invention, a hydraulic control model is established to control the rotating speed of a pump electric motor, without the active control from a driver, and the driver manually controls a forklift control lever to realize the startup and shutdown of a hydraulic system, such that the requirement of operation efficiency can be met, and the goal of energy saving can also be achieved.
The present application discloses a control method and apparatus of a heavy-duty reach truck. The method comprises: when forks are below a first height, a truck travels at a first travel speed, accelerates at a first acceleration rate, and decelerates at a first deceleration rate; when the forks are between the first height and a second height, the truck travels at a second travel speed, accelerates at a second acceleration rate, and decelerates at a second deceleration rate; when the forks are between the second height and a third height, the truck travels at a third travel speed, accelerates at a third acceleration rate, and decelerates at a third deceleration rate; and when the forks are above the third height, the truck travels at a fourth travel speed, accelerates at a fourth acceleration rate, and decelerates at a fourth deceleration rate, wherein the third height > the second height > the first height, the first travel speed > the second travel speed > the third travel speed > the fourth travel speed, and the first acceleration/deceleration rate > the second acceleration/deceleration rate > the third acceleration/deceleration rate > the fourth acceleration/deceleration rate. According to the present application, the mast oscillation amplitude when the forks are at a high-level storage position is reduced, thereby enhancing the stability of the truck.
A forklift mast control method and device. The control method comprises: detecting a forward/backward movement handle potentiometer output signal C1 and a fork lifting height signal C2, wherein H=Hmax×C2/5, H represents the fork lifting height, and Hmax represents the maximum fork lifting height of a high-altitude operation forklift; comparing C1 with a voltage threshold to obtain a comparison result, determining whether C1 changes from small to large or from large to small to obtain a first determination result, and determining whether H is smaller than or equal to a height threshold or not to obtain a second determination result; and on the basis of the comparison result, the first determination result and the second determination result, correspondingly controlling an oil pump motor, a forward/backward movement proportional valve electromagnet m1, a forward/backward movement proportional valve electromagnet m2, a forward movement proportional valve closing speed and a backward movement proportional valve closing speed. The forklift mast control method makes stop impact of mast forward/backward movement small, the whole vehicle shaking small, and ensures safety during high-altitude operation.
B66F 17/00 - Dispositifs de sécurité, p. ex. pour limiter ou indiquer la force de levage
F16K 31/06 - Moyens de fonctionnementDispositifs de retour à la position de repos électriquesMoyens de fonctionnementDispositifs de retour à la position de repos magnétiques utilisant un aimant
4.
COOLING CONTROL SYSTEM AND METHOD FOR HIGH-VOLTAGE LITHIUM BATTERY-BASED ENTIRE ELECTRIC FORKLIFT TRUCK
A cooling control system for a high-voltage lithium battery-based entire electric forklift truck, comprising a controller, a fan, a plurality of cooling water pumps, and temperature sensors that are respectively and correspondingly arranged at the positions of motors and motor controllers of motor and electric control systems of a forklift truck, wherein the fan blows air to dissipate heat of each motor and electric control system of the electric forklift truck; a set of motor and electric control system is independently provided with a cooling water pump, the cooling water pump drives a cooling liquid to circulate so as to dissipate heat of the corresponding motor and electric control system, and the cooling water pump and the fan are independently controlled. Provided is a control method for a high-voltage lithium battery-based entire electric forklift truck. According to the cooling control system, the electric energy consumption of a cooling system is reduced while the performance of a whole vehicle is satisfied; and differential cooling is carried on the motors and the controllers, so that the fan and the cooling water pump are controlled on the basis of requirements, thereby achieving the purpose of accurate heat dissipation, and ensuring the heat dissipation timeliness of the motors and the motor controllers.
xyz12122 in the comprehensive stability evaluation index RSS; step 4, by means of the comprehensive stability evaluation index, constructing an MPC controller; step 5, by means of the MPC controller, carrying out stability control on a vehicle. In the invention, a comprehensive lateral stability evaluation index is provided, and the evaluation index is continuously optimized by means of a reinforcement learning algorithm, so that the evaluation index can more accurately represent the lateral stability.
G05B 19/042 - Commande à programme autre que la commande numérique, c.-à-d. dans des automatismes à séquence ou dans des automates à logique utilisant des processeurs numériques
G05B 13/04 - Systèmes de commande adaptatifs, c.-à-d. systèmes se réglant eux-mêmes automatiquement pour obtenir un rendement optimal suivant un critère prédéterminé électriques impliquant l'usage de modèles ou de simulateurs
6.
LARGE-TONNAGE HIGH-VOLTAGE LITHIUM BATTERY FORKLIFT COOLING CONTROL SYSTEM, AND CONTROL METHOD THEREFOR
A large-tonnage high-voltage lithium battery forklift cooling control system, and a control method therefor. The system comprises a drive assembly (1), a pump assembly (12), a hydraulic oil tank assembly (3), an integrated triple-radiator (8), an electronic fan (19), a drive assembly cooling unit, a pump assembly cooling unit, a hydraulic oil cooling unit, a controller and a temperature sensor. For a high-performance large-tonnage high-voltage lithium battery forklift, according to different working temperature requirements of motors, electric control units and hydraulic oil, a heat dissipation system is divided into three circulating cooling systems, i.e. a drive cooling system, a pump cooling system and a hydraulic oil cooling system, which are subject to the integrated triple-radiator (8) for centralized heat dissipation. Thus, two water cooling control systems, i.e. a drive water cooling control system and a pump water cooling control system, and one oil cooling system are built for the large-tonnage high-voltage lithium battery forklift, thereby forming an accurately energy-saving, reliable and stable cooling control system, which allows the motors, the electric control units and the hydraulic oil to all work at a proper temperature, and has the advantages of simple pipe connection, control logic easy to implement, and low energy consumption requirements.
H02K 9/19 - Dispositions de refroidissement ou de ventilation pour machines avec enveloppe fermée et circuit fermé de refroidissement utilisant un agent de refroidissement liquide, p. ex. de l'huile
B60K 11/04 - Disposition ou montage des radiateurs, volets de radiateurs ou écrans de radiateurs
B60K 11/06 - Dispositions des ensembles de propulsion relatives au refroidissement avec refroidissement par air
F04D 29/58 - RefroidissementChauffageRéduction du transfert de chaleur
F04D 13/08 - Ensembles comprenant les pompes et leurs moyens d'entraînement la pompe étant entraînée par l'électricité pour utilisation en position immergée
F04D 27/00 - Commande, p. ex. régulation, des pompes, des installations ou des systèmes de pompage spécialement adaptés aux fluides compressibles
7.
FORKLIFT ACTIVE BRAKING CONTROL METHOD AND SYSTEM BASED ON POWER SHIFT TRANSMISSION
A forklift active braking control method based on power shift transmission, comprising the following steps: step 1: obtaining forklift state parameters, if the current state of the forklift is an active braking state, performing step 2; step 2: inputting a current speed signal of the forklift, and obtaining duty ratio parameters that are impact-free and can produce a maximum braking force at the current speed, and outputting proportional solenoid valve control parameters of the transmission according to the obtained duty ratio parameters; step 3: using the proportional solenoid valve control parameters to control the proportional solenoid valve of the transmission to take action, and controlling the forklift power system to output a driving force opposite to a current movement direction of the forklift to drive the forklift to actively brake; step 4: exiting the active braking of the forklift when the forklift speed is detected to be zero.
B60T 8/58 - Dispositions pour adapter la force de freinage sur la roue aux conditions propres au véhicule ou à l'état du sol, p. ex. par limitation ou variation de la force de freinage selon une condition de vitesse, p. ex. accélération ou décélération selon une condition de vitesse et une autre condition, ou selon une pluralité de conditions de vitesse
B60T 8/17 - Utilisation de moyens de régulation électriques ou électroniques pour la commande du freinage
B60T 8/171 - Détection des paramètres utilisés pour la régulationMesure des valeurs utilisées pour la régulation
B60T 8/172 - Détermination des paramètres de commande utilisés pour la régulation, p. ex. par des calculs impliquant des paramètres mesurés ou détectés
B66F 9/075 - Caractéristiques de construction ou détails
F16H 59/18 - Entrées de commande vers des transmissions transmettant un mouvement rotatif pour changements de vitesse ou pour mécanismes d'inversion les entrées étant fonction du couple ou du couple demandé fonction de la position de la pédale d'accélérateur
F16H 59/44 - Entrées de commande vers des transmissions transmettant un mouvement rotatif pour changements de vitesse ou pour mécanismes d'inversion les entrées étant fonction d'une vitesse fonction de la vitesse de la machine
F16H 59/54 - Entrées de commande vers des transmissions transmettant un mouvement rotatif pour changements de vitesse ou pour mécanismes d'inversion les entrées étant fonction de l'état de la machine, p. ex. de la position des portes ou des ceintures de sécurité fonction des signaux venant des freins, p. ex. freins de stationnement
F16H 59/68 - Entrées de commande vers des transmissions transmettant un mouvement rotatif pour changements de vitesse ou pour mécanismes d'inversion les entrées étant fonction de l'état de la transmission
F16H 61/16 - Fonctions internes aux unités de commande pour changements de vitesse ou pour mécanismes d'inversion des transmissions transmettant un mouvement rotatif empêchant un changement du rapport en cas de conditions défavorables
8.
VEHICLE FUZZY FEEDFORWARD PATH TRACKING CONTROL METHOD BASED ON HYDRAULIC STEERING LEAKAGE COMPENSATION
A vehicle fuzzy feedforward path tracking control method based on hydraulic steering leakage compensation, comprising: acquiring a steering wheel rotation angle, a wheel rotation angle, and a piston rod displacement parameter; outputting desired wheel rotation angles and desired steering wheel rotation angles in different periods according to a path tracking algorithm; obtaining a feedforward leakage compensation parameter by means of fuzzy control; constructing a fuzzy control system; performing defuzzification on the fuzzy control system by using the center-of-gravity method to obtain a fuzzy sliding mode controller, performing comparison and analysis on an actual rear wheel angular rotation amount by using the fuzzy sliding mode controller, and controlling a compensation solenoid valve to perform liquid supplementing work in each path tracking period; and repeating the steps above to perform the calculation of the next period of the path tracking algorithm to complete the whole path tracking process. According to the present invention, feedforward compensation parameters can be accurately determined, thereby controlling the duty ratio of the compensation solenoid valve to compensate for leaked oil accurately and in a timely manner, and improving the precision of path tracking of intelligent vehicles.
B62D 5/06 - Direction assistée ou à relais de puissance à fluide, c.-à-d. au moyen d'un fluide sous pression produisant toute la force nécessaire, ou la plus grande partie de celle-ci, pour commander la direction du véhicule
B62D 6/00 - Dispositions pour la commande automatique de la direction en fonction des conditions de conduite, qui sont détectées et pour lesquelles une réaction est appliquée, p. ex. circuits de commande
B62D 5/065 - Direction assistée ou à relais de puissance à fluide, c.-à-d. au moyen d'un fluide sous pression produisant toute la force nécessaire, ou la plus grande partie de celle-ci, pour commander la direction du véhicule caractérisée par des moyens spécialement adaptés pour faire varier selon les besoins l'alimentation en fluide sous pression, p. ex. à la demande, pour une assistance variable
F15B 21/08 - Systèmes de servomoteur comportant des moyens de commande actionnés électriquement
9.
ENERGY RECOVERY AND CASCADE UTILIZATION CONTROL METHOD FOR FORKLIFT HYDRAULIC SYSTEM, AND CONTROL SYSTEM
Disclosed in the present invention is an energy recovery and cascade utilization control method for a forklift hydraulic system. The control method comprises the following steps: step 1, detecting the state of forks of a forklift, and executing step 2 when the forks are in a lifting state; step 2, releasing high pressure oils in different energy accumulators in a cascade energy storage part to supply energy to a lifting oil cylinder of the forks; step 3, determining the output flow of a variable displacement oil pump according to the lifting speed of the forks; step 4, determining a lifting demand power according to the load of the forks; step 5, determining the output power of the energy storage part according to the real-time output pressure value of the energy storage part; step 6, determining a minimum engine output power according to the lifting demand power and the energy accumulator output power; and step 7, controlling the rotating speed of the engine and the displacement of the variable displacement oil pump. The present invention ensures the maximum oil supply efficiency, greatly reduces excess power loss of the engine, and improves the energy utilization efficiency.
Disclosed in the present invention is a forklift starting anti-rollback control method, comprising the following steps: S1, collecting state information of a forklift so as to acquire the mass of the forklift; S2, calculating a critical driving force required for the forklift to start without rolling back on the basis of the collected state information of the forklift and the mass of the forklift; S3, calculating the target rotation speed of an engine on the basis of the critical driving force and a universal characteristic curve of the forklift engine; S4, when the forklift is in a forward gear state, stepping on an accelerator pedal of the forklift, enabling the engine to start up and reach the target rotation speed, and controlling the clutch duty ratio and releasing forklift braking so as to allow the forklift to be in a balanced state; and S5, continuously stepping on the accelerator pedal, throttling up, and allowing the forklift to slowly start on a ramp. The forklift starting anti-rollback control method may assist in ramp starting of forklifts, thereby reducing the fatigue degree of drivers during driving, and improving the driving safety; and may also autonomously judge and actively brake when an emergency occurs, thereby further avoiding safety accidents.
B60W 10/02 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande d'accouplements de la chaîne cinématique
B60W 10/06 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des ensembles de propulsion comprenant la commande des moteurs à combustion
B60W 10/105 - Commande conjuguée de sous-ensembles de véhicule, de fonction ou de type différents comprenant la commande des boîtes de vitesses transmissions à variation continue du rapport de type électrique
11.
UNMANNED VEHICLE BRAKE-BY-WIRE CONTROL METHOD AND CONTROL SYSTEM
HELI INDUSTRIAL VEHICLES (SHANGHAI) CO., LTD. (Chine)
Inventeur(s)
Jin, Shizhuo
Li, Zixian
Li, Liming
Gao, Xinying
Hu, Hao
Abrégé
An unmanned vehicle brake-by-wire control method. The method comprises the following steps: step 1, collecting brake control information, acquiring initial positions of an electric push rod release brake position value and a maximum electric push rod brake position value, and recording the initial positions as d0 and d1; step 2, verifying and calibrating electric push rod positions during brake release and the maximum brake of a vehicle, recording the calibrated electric push rod release brake position value as D0, and recording the calibrated maximum electric push rod brake position value as D1; step 3, acquiring the current control signal of the vehicle, and obtaining an electric push rod target value which is used for adjusting the brake of the vehicle; and step 4, sending the electric push rod target value obtained in step 3 to a vehicle controller, so as to control the braking of the vehicle. An emergency stop switch signal and an autonomous driving mode switch signal are detected, such that whether a vehicle is in a manual brake state or an automatic brake state can be determined; and different brake controls are executed in different brake states, such that the brake control effect can be improved.
B60T 17/22 - Dispositifs pour surveiller ou vérifier les systèmes de freinsDispositifs de signalisation
B60T 13/12 - Transmission de l'action de freinage entre l'organe d'attaque et les organes terminaux d'action, avec puissance de freinage assistée ou relais de puissanceSystèmes de freins incorporant ces moyens de transmission, p. ex. systèmes de freinage à pression d'air avec assistance, entraînement ou relâchement par fluide le fluide étant un liquide
B60K 35/00 - Instruments spécialement adaptés aux véhiculesAgencement d’instruments dans ou sur des véhicules
12.
POWER SHIFT TRANSMISSION-BASED FORKLIFT ACTIVE BRAKING CONTROL METHOD AND SYSTEM
A power shift transmission-based forklift active braking control method, comprising the following steps: step 1, obtaining a state parameter of a forklift, and if a current state of the forklift is an active braking state, performing step 2; step 2, inputting a current vehicle speed signal of the forklift, under a current vehicle speed state, obtaining a duty cycle parameter corresponding to a maximum braking force which may be generated and which has no impact, and outputting a proportional solenoid valve control parameter of a transmission according to the obtained duty cycle parameter; step 3, controlling an action of a proportional solenoid valve of the transmission by using the proportional solenoid valve control parameter, and controlling a forklift power system to output a driving force opposite to a current movement direction of the forklift so as to drive the forklift to actively brake; and step 4, when the forklift speed is detected to be zero, the forklift exiting active braking. By means of implementing an active safety braking function by active braking by means of a clutch, the wearing on an original braking system of a vehicle is reduced, and the service life is prolonged. The clutch of the vehicle is a wet clutch, which has an excellent heat dissipation effect and a long service life, and is convenient to replace.
B60T 7/22 - Organes d'attaque de la mise en action des freins par déclenchement automatiqueOrganes d'attaque de la mise en action des freins par déclenchement non soumis à la volonté du conducteur ou du passager déclenchés par le contact du véhicule, p. ex. du pare-chocs, avec un obstacle extérieur, p. ex. un autre véhicule
B66F 9/075 - Caractéristiques de construction ou détails
13.
STATIC OUTPUT FEEDBACK CONTROL METHOD FOR FORKLIFT STABILITY CONTROL, AND STORAGE MEDIUM
Disclosed in the present invention is a static output feedback control method for forklift stability control, and a storage medium. The control method comprises: setting a fuzzy system model, a singular observer module, a generalized observer module, a residual generator module, and a static output feedback control method module for forklift stability control. The singular observer simultaneously estimates the state and fault of the system. The generalized observer is used for generating a residual signal which is sensitive to disturbance as much as possible and insensitive to disturbance. The residual generator reduces the sensitivity of the system to disturbance to the maximum extent, while improving the sensitivity to faults to the maximum extent. The static output feedback control method for forklift stability control uses measurable signals such as a fault and state provided by an observer, so as to control a dynamic system. In the present invention, after a system fault, the reconfiguration of the control law can be ensured on the basis of an estimation state and a fault vector, performance before the system fault is recovered as much as possible, and the transverse stability and the active safety of the forklift are greatly improved.
Disclosed are a battery compartment having a translation type compartment door, comprising a compartment body and a compartment door. A bending arm assembly is movably mounted at the upper portion of an opening of the compartment body; the bending arm assembly comprises two symmetrically-arranged connecting shafts and an eccentric shaft connected between the two connecting shafts; the eccentric shaft is placed above the compartment body, and the two ends of the eccentric shaft are connected to two side plates of the compartment body by means of bearings; the tail end of each connecting shaft is hinged to the compartment door; and the bending arm assembly is connected to pneumatic springs mounted on the compartment body. The battery compartment apparatus of the present application has a compact and reliable structure, and balance rods and the bending arm assembly are used to form a four-mechanical linkage closed kinematic chain, so that the compartment door ascends and descends in a planar space without occupying too much space.
The present application provides a movement buffering control system and method for forklift tilt cylinder based on angle compensation in the field of forklift control, which includes a tilt cylinder configured to control forward and backward tilting of a mast of a forklift and a lift cylinder configured to control the lifting of a fork, and further includes a controller, wherein a signal input terminal of the controller is connected to a first angle sensor to measure a tilt angle of the mast relative to a vertical plane, a second angle sensor to measure a tilt angle of a vehicle body relative to a level ground, and a pressure sensor, and wherein a signal output terminal of the controller is connected to a display, a forward-tilting proportional valve to control the oil for forward-tilting of the tilt cylinder.
F15B 13/02 - Dispositifs de distribution ou d'alimentation du fluide caractérisés par leur adaptation à la commande de servomoteurs
F15B 15/16 - Dispositifs actionnés par fluides pour déplacer un organe d'une position à une autreTransmission associée à ces dispositifs caractérisés par la structure de l'ensemble moteur le moteur étant du type à cylindre droit du type télescopique
16.
Energy regeneration type forklift hydraulic system
An energy regeneration type forklift hydraulic system is provided, which includes a first oil pump, a first electrical motor, a multiple directional control valve, a lifting oil cylinder, a tilting oil cylinder, a steering oil cylinder, a load-sensing steering device, an oil filter, a second oil pump and an oil tank, wherein the multiple directional control valve includes an oil inletting and returning valve spool, a raising and lowering reversing valve spool, a tilting reversing valve spool, and an oil inletting valve spool. The raising and lowering reversing valve spool includes a raising and lowering three-position six-way reversing valve, an annular oil returning passage and an oil returning passage. The system can utilize the potential energy of lowering cargo to simultaneously drive two oil pumps for driving two motors to generate energy, thereby realizing energy recovery.
F16D 31/02 - Accouplements ou embrayages à fluide avec des groupes de pompage du type volumétrique, c.-à-d. dans lesquels passe un volume déterminé de liquide par tour de pompe utilisant des pompes à pistons ou à plongeurs travaillant dans des cylindres
An energy regeneration type forklift hydraulic system is provided, the system comprising a first oil pump (2), a first electrical motor (3), a multi-way valve (4), a lifting oil cylinder (10), a tilting oil cylinder (11), a steering oil cylinder (12), a load-sensing steering device (13), an oil filter (18), a second oil pump (19) and an oil tank (22), wherein the multi-way valve (4) consists of an oil inlet/return valve plate (5), a raising/lowering reversing valve plate (6), a tilting reversing valve plate (7) and an oil inlet valve plate(8). A check valve (51) and a main safety valve (52) are arranged inside the oil inlet/return valve plate (5); the raising/lowering reversing valve plate (6) comprises a lifting three-position six-way reversing valve, a circular oil return duct (15) and an oil return duct (16). The tilting reversing valve plate (7) comprises a tilting three-position six-way reversing valve, a first overload oil supplement valve (72) and a second overload oil supplement valve (73). The oil inlet valve plate (8) comprises a bypass valve (81), a priority valve (83) and a steering safety valve (82). The system can utilize the potential energy of dropping cargo to simultaneously drive two oil pumps (2, 19) for driving two motors (3, 20) to generate energy, thereby realizing energy recovery, or one part of the potential energy is converted into hydraulic energy by one oil pump (19) and surplus differential pressure also can be used for power regeneration, while the other part is used by another oil pump (2) to drive the motor (3) for generating energy, so that energy recovery is realized.
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