Experimental Research on Rapid Control Prototyping and HILS for Control System of Forklift Automatic Transmission

Abstract

Abstract:

Based on the pump pressure,the forklift' working conditions can be divided into no-load,full load and half load.By calculating forklift's input features,output characteristics and traction features,shift schedule of three variable parameters(throttle position,speed and pressure of oil pump) were designed.The rapid control prototyping experiments based on dSPACE system were designed to verify the shift and actuator control strategy.On the basis of TCU and HILS system,the HILS experiments was carried on,which testified the effect of control strategy in real TCU.The test results show that TCU designed by using dSPACE can meet the performance requirements,improve development efficiency,providing a reference for the development of forklift automatic transmission control unit.

Key words: forklift, transmission control unit(TCU), control strategy, rapid control prototyping, hardware in the loop simulation(HILS)

摘要：

依据叉车工作泵的压力大小分为空载、满载、半载3种工况,计算叉车输入特性、输出特性和牵引特性,据此建立了以油门开度、车速和油泵压力为控制参数的三参数换挡规律;设计了基于dSPACE的实车快速控制原型试验,验证了换挡控制策略和执行机构策略;设计了自动变速器控制器（TCU）样机和硬件在环仿真试验台,进行了基于dSPACE的硬件在环试验,验证了控制策略在TCU样机中的控制效果。试验结果表明：基于dSPACE开发的TCU满足性能要求,并能提高开发效率,可为叉车自动变速器控制器的开发提供参考。

关键词:

叉车, TCU, 控制策略, 快速控制原型, 硬件在环仿真

CLC Number:

ZHANG Bing-Li-1, DONG Pan-Wen-1, HU Fu-Jian-1, LIU Zong-Ji-1, 2.

Experimental Research on Rapid Control Prototyping and HILS for Control System of Forklift Automatic Transmission

[J]. China Mechanical Engineering, 2012, 23(3): 349-353,361.

张炳力1, 董彦文1, 胡福建1, 刘宗其1, 2.

某型叉车自动变速器控制系统的快速原型和硬件在环试验研究

[J]. 中国机械工程, 2012, 23(3): 349-353,361.

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