The Controller Development For Electric Forklift Truck

The conventional internal combustion forklifts has been gradually losing its superiorityin the wave of mechatronics and automatic control, and with the gradual strengtheningawareness of environmental protection, the electric forklifts become absolute main force inthe material handling is a trend to replace the internal combustion forklifts. At present, thecontroller which used on China’s electric forklift almost entirely dependent on foreignproducts, and the domestic research and development in this area is not yet ripe. In view ofthis situation, this paper designed a new type of electric forklift controller to seek abreakthrough in this field.Firstly, this paper analysed the function requirements for the electric forklift and putforword a requirement for its electric control system, designed the overall solution based onthe electric control system, which leads to the central controller design ideas and programs.In view of the technical theory which the controller involved, this paper introduced theelectronic differential algorithm and the CAN bus communication protocols which based onAckerman-Jeantand model. For this, the paper provided an electronic differential algorithmand CAN communication formats which are suitable for this system.Secondly, the paper designed a central control system for electric forklift which basedon STM32F103VCT6microcontroller. According to the function requirements, the papermade a detailed design for hardware circuit and software system. The hardware circuitinclude human-computer interaction operator panel input processing, battery voltage signalacquisition, motor temperature signal acquisition, CAN bus communication, USARTcommunication, relay output etc. The software uses flowchart to express the idea combinedwith the target of hardware circuit. Enhance the stability and flexibility of electric forkliftsby the combination of software and hardware in theory.Finally, on the basis of the controller hardware and software control, the paper finishedthe modeling simulation for electronic differential control algorithm in the MATLAB/Simulink software environment. In this condition, the paper analysed the actual rotationalspeed of the each wheel in different directions at different speeds, corner given, used toverify the correctness of the system.