The invention relates to the technical field of industrial process control, in particular to an electronic differential control method and system for two-wheel drive of an electric shear forklift, and the method comprises the steps: collecting a maximum current effective value in a no-load state after different rotating speeds are stabilized, and taking the maximum current effective value as a no-load current value E1; phase current values of the left and right driving wheel motors are collected in real time, and real-time current effective values Irms1 and Irms2 of the left and right driving wheel motors are calculated; if it is continuously detected that Irms1 and Irms2 are smaller than or equal to E1 at the same time, the vehicle is in a slipping state, and the rotating speed distribution coefficient of the left wheel and the right wheel is adjusted to a preset value R1; if it is detected that Irms1 or Irms2 is larger than E1, the vehicle is in a normal state, and a left wheel and right wheel balance state mark is judged according to the difference value of Irms1 and Irms2 and a preset current value E2; and based on the left and right wheel balance state marks of the current and last periods, adjusting the left and right wheel rotation speed distribution coefficient to realize double-wheel torque balance during turning.

    本发明涉及工业过程控制技术领域,尤其涉及一种电动剪叉车双轮驱动的电子差速控制方法及系统,该方法包括:采集空载状态不同转速稳定后的最大电流有效值作为空载电流值E1;实时采集左右驱动轮电机的相电流值,计算得到左右驱动轮电机的实时电流有效值Irms1和Irms2;如果连续检测Irms1和Irms2同时小于或等于E1,则车辆处于打滑状态,调整左右轮转速分配系数至预设值R1;如果检测Irms1或Irms2大于E1,则车辆处于正常状态,根据Irms1和Irms2差值与预设电流值E2的大小,判断左右轮平衡状态标志;基于当前和上一周期的左右轮平衡状态标志,对左右轮转速分配系数进行调节,实现转弯时双轮转矩平衡。


    Access

    Download


    Export, share and cite



    Title :

    Electronic differential control method and system for double-wheel drive of electric shear forklift


    Additional title:

    一种电动剪叉车双轮驱动的电子差速控制方法及系统


    Contributors:
    JIA SHANGQING (author) / HUANG SHUAI (author) / JI BINGNAN (author) / QI YUANRUI (author) / SHI CONGGUO (author)

    Publication date :

    2024-03-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



    Double-wheel differential drive pallet forklift

    LUO DECHANG / ZHANG PENG | European Patent Office | 2020

    Free access

    Suspension type double-wheel differential electric forklift

    LI GANG / ZHU YONGHENG / HUANG HUILAN | European Patent Office | 2023

    Free access

    Forklift drive wheel

    YANG HENGFEI | European Patent Office | 2020

    Free access

    Control method of double-drive electric forklift

    LUAN YING / CHEN SHISHENG / GE LIYIN et al. | European Patent Office | 2021

    Free access

    Double-drive system of electric forklift

    HU ZHUTIAN / CHEN SHISHENG / LIU HAILIN et al. | European Patent Office | 2022

    Free access