The invention discloses a control method and device for an electric counterbalance forklift truck and a computer readable storage medium, and the method comprises the steps that after a controller receives the current speed and the instruction speed of the electric counterbalance forklift truck, the difference value of the current speed and the instruction speed serves as the error speed, and the error speed is calculated according to the error speed; the current feedback control quantity is calculated according to the error speed; querying in a preset accelerator speed data table through the controller according to the instruction speed to obtain a current feed-forward control quantity; taking the sum of the feedback control quantity and the feedforward control quantity as the current actual control quantity; and when the electric counterbalance forklift reaches the target position, a brake signal with the maximum control quantity is output, and when the electric counterbalance forklift does not reach the target position, an accelerator signal with the actual control quantity is output. A high-precision and low-time-delay control scheme of the electric counterbalance forklift truck is realized, and a multi-stage accelerator brake control mechanism of the electric counterbalance forklift truck is optimized.

    本发明公开了一种电动平衡重叉车的控制方法、设备及计算机可读存储介质,其中,该方法包括:在控制器接收到电动平衡重叉车的当前速度和指令速度后,将所述当前速度与所述指令速度的差值作为误差速度,并根据所述误差速度计算得到当前的反馈控制量;通过所述控制器根据所述指令速度在预设的油门速度数据表中查询得到当前的前馈控制量;将所述反馈控制量与所述前馈控制量之和作为当前的实际控制量;在所述电动平衡重叉车到达目标位置时,输出最大控制量的刹车信号,在所述电动平衡重叉车未到达所述目标位置时,输出所述实际控制量的油门信号。实现了一种高精度、低时延的电动平衡重叉车控制方案,优化了电动平衡重叉车在多阶段的油门刹车控制机制。


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    Title :

    Control method and equipment of electric counterbalance forklift and computer readable storage medium


    Additional title:

    一种电动平衡重叉车的控制方法、设备及计算机可读存储介质


    Contributors:
    HAN MYUNG-JUN (author) / PAN JINWEN (author)

    Publication date :

    2023-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / 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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