The invention discloses a kinematics modeling method of an electric forklift. A forklift kinematics model, a motor acceleration and forklift body acceleration conversion model and a motor rotation angle and forklift front wheel rotation angle conversion model are included. The method comprises the following steps: firstly, respectively establishing a forklift kinematics model, a motor acceleration and forklift body acceleration conversion model and a motor rotation angle and forklift front wheel rotation angle conversion model; then the kinematics model of the forklift, the motor acceleration and forklift body acceleration conversion model and the motor rotation angle and forklift front wheel rotation angle conversion model are combined to obtain an accurate kinematics model of the electric forklift, the actual working condition of the forklift is considered in the model, and the relation among the rotation angle and speed of the motor and a ground coordinate system is described; therefore, accurate movement control of the expected position of the forklift is achieved.
本发明公开了一种电动叉车的运动学建模方法,包括叉车自身运动学模型、电机加速度与叉车车身加速度转换模型、电机转角与叉车前轮转角转换模型。本发明先通过分别建立叉车自身运动学模型、电机加速度与叉车车身加速度转换模型、电机转角与叉车前轮转角转换模型,然后将叉车自身运动学模型、电机加速度与叉车车身加速度转换模型、电机转角与叉车前轮转角转换模型相结合得到电动叉车的运动学精确模型,该模型考虑了叉车真实的工作工况,描述了电机的转角、速度与地面坐标系之间的联系;从而解决叉车期望位置的精确运动控制。
Kinematic modeling method for electric forklift
一种电动叉车的运动学建模方法
2022-12-30
Patent
Elektronische Ressource
Chinesisch
IPC: | G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last |
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