The invention relates to an auxiliary service braking control method for a standing driving type forklift, the standing driving type forklift adopts a driving wheel and a bearing wheel for common braking, and the auxiliary service braking control method for the standing driving type forklift comprises the steps that after it is detected that the forklift has braking operation, the actual running speed v1 of the forklift is collected; the ideal rotating speed n2 of the driving wheel when the slip rate S is equal to 20% is calculated, the braking torque of the driving motor is adjusted to enable the actual rotating speed of the driving wheel to reach the ideal rotating speed n2 of the driving wheel, the ideal rotating speed n3 of the bearing wheel when the slip rate S is equal to 20% is calculated, and the braking torque of the bearing wheel brake is adjusted to enable the actual rotating speed of the bearing wheel to reach the ideal rotating speed n3 of the bearing wheel. The slip rate of the forklift is controlled to be 20%, braking force can be effectively and controllably applied, and the problems that the braking distance is long due to the fact that the braking force is applied too small and wheels are locked due to the fact that the braking force is applied too large are solved.
本发明涉及一种站驾式叉车辅助行车制动控制方法,所述站驾式叉车采用驱动轮与承载轮共同制动,所述站驾式叉车辅助行车制动控制方法为:检测到叉车有制动操作后,采集叉车实际运行速度v1;计算当滑移率S=20%时的驱动轮理想转速n2,调整驱动电机的制动力矩使驱动轮的实际转速达到驱动轮理想转速n2:计算当滑移率S=20%时的承载轮理想转速n3,调整承载轮制动器的制动力矩使承载轮的实际转速达到承载轮理想转速n3。本发明将叉车滑移率控制在20%,能够有效且可控的施加制动力,避免制动力施加过小导致制动距离较长的问题和制动力施加过大导致车轮抱死问题。
Standing driving type forklift auxiliary service braking control system and control method
一种站驾式叉车辅助行车制动控制系统及控制方法
2023-12-05
Patent
Electronic Resource
Chinese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / 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 |
Standing driving type forward moving forklift body automatic control system
European Patent Office | 2023
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