The invention discloses a detection method for ramp slipping of a storage vehicle, which comprises the following steps: step 1, after a vehicle climbing drive stops, a controller controls a U-phase drive motor control signal PWM in an H-bridge circuit of a direct current motor to output 0, and V-phase upper and lower tube drives are closed; 2, a voltage sampler AD samples bridge arm midpoint voltage information; 3, according to the bridge arm midpoint voltage information obtained in the step 2, whether bridge arm midpoint voltage changes are within a reasonable range or not is judged, and whether a vehicle is in a slope sliding state or not is judged. On the basis of an original motor control scheme, a bridge arm drive is controlled by a controller to output a motor control signal PWM, and when U-phase drive output is 0, equivalently, a U bridge arm lower tube is short-circuited, the vehicle is in a slope sliding state; the theoretical value of the corresponding bridge arm voltage is 0, and the two V-phase drives are both closed, so that whether the sum of the midpoint voltages of the two bridge arms is 0 or not is judged, and if the sum is 0, the vehicle is stopped normally. And if not, determining that the vehicle slides on the slope.

    本发明公开了一种仓储车坡道溜坡的检测方法,包括以下步骤:步骤1:在车辆爬坡驱动停止后,控制器控制直流电机H桥电路中U相驱动电机控制信号PWM输出0,V相上下管驱动关闭;步骤2:电压采样器AD采样桥臂中点电压信息;步骤3:根据步骤2得到的桥臂中点电压信息,判断桥臂中点电压变化是否在合理范围内,判断车辆是否处于溜坡状态,本发明在原有电机控制方案基础上,通过控制器控制桥臂驱动输出电机控制信号PWM,当U相驱动输出为0,相当于U桥臂下管短路,对应桥臂电压理论值为0,V相两个驱动全部关闭,因此判断两个桥臂中点电压之和是否为0,为0则表示车辆正常停车。不为0则认为车辆溜坡。


    Access

    Download


    Export, share and cite



    Title :

    Detection method for ramp slipping of storage vehicle


    Additional title:

    一种仓储车坡道溜坡的检测方法


    Contributors:
    ZHANG ZONGGE (author) / LIU YI (author) / LI FEI (author) / YAO XIN (author)

    Publication date :

    2023-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



    Slipping detection method and device and vehicle

    WANG YINGJIAN / LI LIANGLIANG / TAN ZHICHENG et al. | European Patent Office | 2024

    Free access

    Vehicle belt slipping diagnosis method, storage medium and vehicle

    ZHONG YANGYANG | European Patent Office | 2024

    Free access

    Vehicle idling and slipping detection method and device, storage medium and electronic equipment

    ZHANG YUNFEI / WU ZHENGZHONG / ZHU ZHUN et al. | European Patent Office | 2024

    Free access

    Treatment system for vehicle slipping

    YIN FANXING / LI ZEWEN / LIU YUNFU | European Patent Office | 2024

    Free access

    ANTI-SLIPPING DEVICE FOR VEHICLE

    ISAJCHEV VLADIMIR TIMOFEEVICH | European Patent Office | 2017

    Free access