CN-121989887-A - Multi-parameter fusion-based self-adaptive electro-hydraulic composite brake control method and system and electric forklift

CN121989887ACN 121989887 ACN121989887 ACN 121989887ACN-121989887-A

Abstract

The invention relates to the technical field of industrial vehicle brake control, and discloses a self-adaptive electro-hydraulic composite brake control method and system based on multi-parameter fusion and an electric forklift. According to the control method, the multi-source information such as the brake pedal, the vehicle speed, the load, the gradient and the steering angle is collected and fused in real time, the braking intensity and the working condition are intelligently identified, the optimal distribution proportion of electric braking and hydraulic braking is dynamically calculated by a multi-parameter fusion model, a control instruction is generated through a smooth transition algorithm, the impact-free coordination of two braking modes is realized, the closed loop feedback is introduced to dynamically correct braking moment, the problems that the working condition adaptability is poor, the braking smoothness is poor, the safety and the energy efficiency are difficult to be compatible in the traditional fixed proportion braking scheme are solved, and the braking safety, the riding comfort and the energy recovery efficiency of the electric forklift in a complex operation scene are remarkably improved.

Inventors

HUANG JIANFENG
WANG YUNFEI
ZHU XIAOCHENG
WANG SHENG
LIU MIN
CHEN HUIHUI

Assignees

安徽合力股份有限公司

Dates

Publication Date: 20260508
Application Date: 20260401

Claims (10)

1. The self-adaptive electro-hydraulic composite brake control method based on multi-parameter fusion is characterized by comprising the following steps of: Collecting and preprocessing multisource information in real time; Constructing a brake intensity level judgment standard, and identifying the brake intensity; Constructing a multi-parameter fusion model to obtain the electro-hydraulic composite braking proportion; generating a control instruction by adopting a transition algorithm according to the electro-hydraulic compound braking proportion; distributing braking torque in real time according to the control instruction; And obtaining the generated actual braking moment, comparing the actual braking moment with the expected braking effect, and dynamically correcting the control command until the generated actual braking moment and the expected braking effect.
2. The control method according to claim 1, wherein collecting and preprocessing the multi-source information in real time includes: Acquiring original information in real time by adopting a multidimensional sensor, wherein the original information comprises a brake pedal strength signal, a vehicle speed signal, a load signal, a vehicle body gradient signal and a steering angle signal, and acquiring a battery SOC signal and a motor temperature signal; And filtering and checking the signal validity of the acquired original information to acquire multi-source information.
3. The control method according to claim 2, wherein constructing a brake strength level judgment criterion, identifying a brake strength, comprises: Defining that the opening of a brake pedal is less than or equal to 30 percent as light braking; Defining that the opening of a brake pedal is more than 30% and less than or equal to 60% as middle braking; Defining that the opening of a brake pedal is more than 60% and less than or equal to 80% as heavy braking; defining that the opening degree of a brake pedal is more than 80 percent as emergency braking; And acquiring the processed brake pedal strength signal, and identifying and determining the current brake strength according to the brake strength grade judging standard.
4. The control method according to claim 3, wherein constructing a multiparameter fusion model to obtain an electrohydraulic composite braking ratio comprises: acquiring processed multi-source information; Constructing a multi-parameter fusion model, and judging the current braking working condition; when the current working condition is a light braking working condition, the distribution coefficients of electric braking and hydraulic braking are obtained by adopting a formula (1), ,(1) Wherein, the For electric braking distribution coefficients under light braking conditions, The hydraulic brake distribution coefficient under the light brake working condition is adopted; when the current working condition is one of the middle braking working condition and the heavy braking working condition, the formula set (2) is adopted to acquire the distribution coefficients of electric braking and hydraulic braking, ,(2) Wherein, the For electric brake distribution coefficients under medium and heavy brake conditions, For the hydraulic braking distribution coefficient under the medium and heavy braking conditions, As a ratio of the actual load to the rated load, As the ratio of the actual gradient to the maximum allowable gradient, For the ratio of the actual steering angle to the set steering angle, , As a result of the load weight coefficient, As the gradient weight coefficient, As the steering angle weight coefficient, , As a function of the intensity of the braking, For the opening degree of the brake pedal, Is the maximum brake pedal opening; When the current working condition is an emergency braking working condition, the distribution coefficients of electric braking and hydraulic braking are obtained by adopting a formula (3), ,(3) Wherein, the For electric brake distribution coefficients in emergency braking conditions, And the hydraulic brake distribution coefficient is used for hydraulic brake under emergency braking working conditions.
5. The control method according to claim 1, wherein generating the control command using the transition algorithm according to the electro-hydraulic compound brake ratio includes: acquiring a total braking demand and distribution coefficients of electric braking and hydraulic braking under the current working condition, and calculating an expected electric braking moment and an expected hydraulic braking moment; The method comprises the steps of carrying out boundary safety judgment on an expected electric braking moment and an expected hydraulic braking moment, and outputting the expected electric braking moment and the expected hydraulic braking moment with the boundary safety; Obtaining a smooth instruction by adopting a formula (4) according to a linear interpolation transition algorithm; ,(4) Wherein, the In order to output the total braking torque, Is the braking torque of the motor, Is a hydraulic braking moment, and is a hydraulic braking moment, In order to achieve a total transition time, the time of the transition, Is the transition time; And sending the smooth instruction to a controller to generate a control instruction.
6. The control method according to claim 1, wherein the step of obtaining the generated actual braking torque, comparing the actual braking torque with the expected braking effect, and dynamically correcting the control command until the generated actual braking torque meets the expected braking effect, comprises: collecting the current actual electric braking moment and hydraulic braking moment, and calculating the generated actual braking moment; calculating an error signal of the current total braking torque; judging whether the current error signal is larger than a set error threshold value or not; Under the condition that the current error signal is larger than the set error threshold value, acquiring a correction control instruction for generating correction quantity by adopting a PI control method, and executing the correction control instruction; acquiring an error signal after the correction control instruction is executed, and judging whether the current error signal is smaller than or equal to a set error threshold value in a preset number of periods; under the condition that the current error signal is smaller than or equal to a set error threshold value in a preset number of periods, determining that the current generated actual braking moment accords with the expected braking effect; and executing the correction control command again when the current error signal is larger than the set error threshold value in a preset number of periods, wherein the correction control command for generating the correction amount is acquired by adopting a PI control method.
7. The control method according to claim 1, characterized in that the control method further comprises: monitoring the states of all the sensors; When any one sensor fails, adopting a preset fixed electrohydraulic compound braking proportion, and simultaneously alarming to prompt the failure; monitoring the running states of electric braking and hydraulic braking; When the electric brake fails, the pure hydraulic brake is adopted for operation; When the hydraulic braking fails, pure electric braking is adopted for running; Monitoring the SOC of the battery and the temperature of the motor; When one of the SOC of the battery being greater than a preset first battery threshold value and the motor temperature being greater than a preset first temperature threshold value occurs, the electric brake distribution coefficient is forcibly lowered to the preset first distribution threshold value.
8. An adaptive electro-hydraulic compound brake control system based on multi-parameter fusion, which is characterized in that the control system comprises: The signal acquisition processing module is used for acquiring and preprocessing multi-source information in real time; A brake identification module for constructing a brake intensity level judgment standard to identify the brake intensity, The multi-parameter fusion module is used for constructing a multi-parameter fusion model and acquiring the electro-hydraulic composite braking proportion; The smooth transition switching module is used for generating a control instruction by adopting a transition algorithm according to the electro-hydraulic compound braking proportion; A driving module for distributing braking moment in real time according to the control instruction, The feedback module is used for acquiring the generated actual braking moment, comparing the actual braking moment with the expected braking effect, and dynamically correcting the control instruction until the generated actual braking moment and the expected braking effect; The controller is electrically connected with the signal acquisition and processing module, the brake identification module, the multi-parameter fusion module, the smooth transition switching module, the driving module and the feedback module and is used for executing the control method according to any one of claims 1-7.
9. The control system of claim 8, further comprising a monitoring and early warning module for monitoring the status of all sensors, monitoring the operating status of electric and hydraulic brakes, and monitoring the SOC of the battery and the motor temperature, in electrical communication with the controller.
10. An electric fork-lift truck, characterized in that it comprises a fork-lift truck body and a controller for executing the control method according to any one of claims 1-7.

Description

Multi-parameter fusion-based self-adaptive electro-hydraulic composite brake control method and system and electric forklift Technical Field The invention relates to the technical field of industrial vehicle brake control, in particular to a self-adaptive electro-hydraulic composite brake control method and system based on multi-parameter fusion and an electric forklift. Background The electric fork-lift truck is used as core carrying equipment in warehouse logistics and industrial production, and the braking performance of the electric fork-lift truck is directly related to personnel safety, cargo safety and operation efficiency. At present, an electric fork truck braking system mainly adopts a single electric braking mode and a fixed proportion electrohydraulic compound braking mode, and the following obvious defects exist in the prior art through search, so that the braking requirement under the complex working condition can not be met: (1) The existing electrohydraulic compound braking mostly adopts fixed proportion to distribute braking force, and does not consider dynamic changes of load (no load/heavy load), driving gradient (level road/uphill/downhill) and steering state (straight running/steering) in the operation of the electric forklift, so that insufficient braking and overlong braking distance are caused when the heavy load descends, the energy recovery efficiency is low when the light load is on the level road, and potential safety hazards such as sideslip, tail flick and the like are easy to occur when the electric forklift is used for steering and braking; (2) The braking smoothness is poor, namely the switching process of electric braking and hydraulic braking is hard, no effective smooth transition control exists, the braking impact and the bump are easy to generate, the driving comfort is affected, and meanwhile, the structure of a forklift is possibly damaged; (3) The existing scheme either prioritizes energy recovery (sacrificing braking safety) or prioritizes braking safety (sacrificing energy recovery efficiency), and the relation between the two cannot be dynamically balanced according to working conditions; (4) The method lacks the working condition sensing and self-adaptation capability, namely, the braking control is carried out only by relying on a brake pedal signal, the multi-dimensional working condition parameters are not fused, the self-adaptation distribution of the braking force can not be realized, and the suitability is poor. Disclosure of Invention In order to overcome the technical problems, the invention provides a self-adaptive electro-hydraulic composite brake control method and system based on multi-parameter fusion and an electric forklift, wherein the control method is used for intelligently identifying the brake strength and the working condition by collecting and fusing multi-source information such as a brake pedal, a vehicle speed, a load, a gradient and a steering angle in real time, dynamically calculating the optimal distribution proportion of electric braking and hydraulic braking according to the multi-source information, generating a control instruction through a smooth transition algorithm, realizing the impact-free coordination of two braking modes, introducing closed loop feedback to dynamically correct the brake moment, solving the problems of poor working condition adaptability, poor braking smoothness, difficulty in considering safety and energy efficiency of the traditional fixed proportion brake scheme, and remarkably improving the braking safety, riding comfort and energy recovery efficiency of the electric forklift under a complex operation scene. In order to achieve the above purpose, according to one aspect of the present invention, there is provided an adaptive electro-hydraulic composite brake control method based on multi-parameter fusion, the control method comprising: Collecting and preprocessing multisource information in real time; Constructing a brake intensity level judgment standard, and identifying the brake intensity; Constructing a multi-parameter fusion model to obtain the electro-hydraulic composite braking proportion; generating a control instruction by adopting a transition algorithm according to the electro-hydraulic compound braking proportion; distributing braking torque in real time according to the control instruction; And obtaining the generated actual braking moment, comparing the actual braking moment with the expected braking effect, and dynamically correcting the control command until the generated actual braking moment and the expected braking effect. Preferably, the method for collecting and preprocessing the multi-source information in real time comprises the following steps: Acquiring original information in real time by adopting a multidimensional sensor, wherein the original information comprises a brake pedal strength signal, a vehicle speed signal, a load signal, a vehicle body gradient signal and a steerin