JP2008296709A - Vehicle control device - Google Patents

Abstract

An object of the present invention is to provide a vehicle control device capable of detecting an abnormality of a rotation sensor signal without having a redundant system or a plurality of rotation sensors.
A cargo handling electric motor 12 drives a hydraulic pump 20 to supply hydraulic pressure to be supplied to hydraulic cylinders 28, 29, 36, and 37. The cargo handling rotation detection means 14 detects the rotation speed of the cargo handling motor. The control means 7 controls the cargo handling motor based on an operation signal from a cargo handling operation means for driving the hydraulic cylinder. The control means 7 is configured such that the detected value of the number of rotations of the cargo handling motor based on the rotation sensor signal after an arbitrary time elapses from when the cargo handling operation detection means 3 detects that the handling operation has been performed is less than a predetermined threshold value. In some cases, the rotation sensor signal is diagnosed as abnormal.
[Selection] Figure 1

Description

  The present invention relates to a vehicle control apparatus, and more particularly to a vehicle control apparatus suitable for diagnosing abnormality of a rotation sensor that detects the number of rotations of an electric motor in a control apparatus that generates and supplies hydraulic pressure by driving an electric motor.

  In recent years, many vehicle drive systems using electric motors have been applied to electric vehicles, hybrid vehicles, and industrial vehicles such as battery-powered electric forklifts (battery forklifts). Due to the advantages, AC motors are increasingly applied to drive systems.

  In most cases, AC motors used for vehicles are equipped with a rotation sensor that detects the number of rotations of the motor in order to achieve highly accurate and highly responsive vector control. Highly accurate and highly responsive control is realized.

  The battery forklift described above is equipped with a cargo handling device (mast, fork) for transporting cargo, and by generating hydraulic pressure with an electric motor and controlling the hydraulic cylinder, the mast can be tilted forward and backward. The upper and lower functions are realized. Also, construction machines such as power shovels are equipped with cargo handling devices (arms, booms, buckets), and realize the upper and lower functions of the cargo handling devices by generating hydraulic pressure with an electric motor and controlling the hydraulic cylinder. is doing.

  In this way, there are also motor controls that control functions such as hydraulic power supply as well as driving for motors, and it is indispensable to improve the maintenance reliability at the entire vehicle level by diagnosing and detecting abnormality of the rotation sensor in this motor control It is.

  Therefore, as a method of detecting an abnormality of the conventional rotation sensor, a main rotation sensor that generates a first pulse signal according to the rotation of the first rotating body, and a second rotation that rotates in conjunction with the first rotating body. There is known a technique for performing abnormality diagnosis by using a sub-rotation sensor that generates a second pulse signal according to a body and comparing count values of each pulse (see, for example, Patent Document 1).

  In addition, a motor rotation sensor, an engine rotation sensor, and a wheel rotation sensor are provided, and the motor rotation speed calculation value obtained from the engine and wheel rotation sensor signals is compared with the rotation speed detection value obtained from the motor rotation sensor. A device that diagnoses an abnormality of a motor rotation sensor is known (see, for example, Patent Document 2).

JP-A-8-248048 JP 2004-112982 A

  However, the devices disclosed in Patent Documents 1 and 2 require a means for detecting a rotation signal of another rotating body that rotates in synchronization with the rotation signal of the electric motor or the main rotating body, and constitutes a redundant system in a broad sense. is doing. That is, it is the same as having a plurality of rotation sensors, resulting in an increase in system cost.

  An object of the present invention is to provide a vehicle control device that can detect an abnormality of a rotation sensor signal without having a redundant system or a plurality of rotation sensors.

(1) In order to achieve the above object, the present invention provides a hydraulic pressure generating motor used for driving the hydraulic pressure generating means to supply the hydraulic pressure supplied to the hydraulic cylinder, and the rotational speed of the hydraulic pressure generating motor. Control of a vehicle having a control means for controlling the hydraulic pressure generating motor based on an operation signal from an operation means for driving the hydraulic cylinder. In the apparatus, the control means may detect the rotation for oil pressure generation based on any combination of an operation signal of the operation means, a motor rotation speed detected by the oil pressure generation rotation detection means, and a steering speed. The abnormality of the rotation sensor signal from the means is determined.
With this configuration, it is possible to detect an abnormality in the rotation sensor signal without having a redundant system or a plurality of rotation sensors.

  (2) In the above (1), preferably, the vehicle is provided with a cargo handling operation detection means for detecting a cargo handling operation state, and the control means is optional from the time point when the cargo handling operation is detected by the cargo handling operation detection means. When the rotation speed detection value of the hydraulic pressure generating motor based on the rotation sensor signal after the elapse of the time is equal to or less than a predetermined threshold value, an abnormality of the rotation sensor signal is diagnosed.

  (3) In the above (2), preferably, the control means is configured such that a state in which a rotation speed detection value of the hydraulic pressure generating motor based on the rotation sensor signal is equal to or less than a predetermined threshold value is a predetermined threshold value. When time has elapsed, an abnormality is diagnosed.

  (4) In the above (1), preferably, the control means is in a state where the rotation speed detection value of the hydraulic pressure generating electric motor is in a reverse rotation state and the reverse rotation state exceeds a predetermined threshold value. An abnormality is diagnosed when a predetermined threshold time elapses.

  (5) In the above (1), preferably, a steering detection means for detecting an operation state is provided, and the control means is determined to be steering based on a signal based on the steering detection means, and the steering detection means When the steering speed detected and calculated based on the signal from is higher than a predetermined threshold value, an abnormality is diagnosed.

  (6) In the above (1), preferably, a steering detection means for detecting an operation state is provided, and the control means detects an abnormality when it is determined that steering is being performed based on a signal based on the steering detection means. This is not done.

  According to the present invention, an abnormality of a rotation sensor signal can be detected without having a redundant system or a plurality of rotation sensors.

Hereinafter, the configuration and operation of a vehicle control apparatus according to an embodiment of the present invention will be described with reference to FIGS.
First, the overall configuration of a vehicle equipped with the vehicle control apparatus according to the present embodiment will be described with reference to FIG. Here, a battery forklift will be described as an example of the vehicle.
FIG. 1 is a system block diagram showing the overall configuration of a vehicle equipped with a vehicle control apparatus according to an embodiment of the present invention.

  The control device (controller) 6 controls vehicle drive control. The control device 6 includes control means 7, travel power conversion means 18, and cargo handling power conversion means 19. The control means 7 includes a CPU 8 and a rotation signal detection means 9. The traveling power conversion means 18 performs power conversion (for example, DC-AC conversion) for supplying power from the power source 17 to the traveling motor 11. A cargo handling power conversion means 19 is also incorporated. Power conversion (for example, DC-AC conversion) for supplying power from the power source 17 to the cargo handling motor 12 is performed.

  Signals from the accelerator means 1, the forward / reverse detection means 2, the cargo handling operation detection means 3, and the steering detection means 5 for converting the vehicle driver's will to an electrical signal are transmitted to the control means 7. Is done. The control means 7 uses the signals from these detection means 1, 2, 3 and 5 to drive the traveling electric power conversion means 18 and the cargo handling power to drive the traveling motor 11 and the cargo handling motor 12 based on the operation of the driver's will. Control for driving the conversion means 19 is performed.

  The traveling motor 11 is provided with traveling rotation detection means 13, converts the rotation of the traveling motor 11 into an electrical signal, and transmits it as a traveling rotation signal 15 to the rotation signal detection means 9 inside the control means 7. In addition, the cargo handling motor 12 is provided with a cargo handling rotation detection means 14, which converts the rotation of the cargo handling motor 12 into an electrical signal and transmits it as a cargo handling rotation signal 16 to the rotation signal detection means 9 inside the control means 7. To do.

  The rotation signal detection means 9 performs electrical processing such as waveform shaping and amplification on the traveling rotation signal 15 and the cargo handling rotation signal 16 and transmits them to the CPU 8 as a rotation pulse signal 10. The CPU 8 calculates the rotation speeds of the traveling motor 11 and the cargo handling motor 12 based on the transmitted rotation pulse signal 10 and performs the drive control of each motor.

  The driving force generated by the cargo handling motor 12 is mechanically transmitted to the hydraulic pump 20, and a main hydraulic pressure 26 is generated by the hydraulic oil in the oil tank 21 by the hydraulic pump 20. The generated main hydraulic pressure 26 is transmitted to the control valve 23 via the relief valve 22. The control valve 23 is a tilt cylinder based on the operating state of the steering rod 25 in which the input main hydraulic pressure 26 is mechanically connected to the steering 24 and the steering operation detecting means 3 and the mechanical or electrical operating state. 28, the main hydraulic pressure 26 is distributed to the lift cylinder 29, the left steering cylinder 36, and the right steering cylinder 37. The distributed main hydraulic pressure 26 is transmitted as lift hydraulic pressure 32, tilt hydraulic pressure 33, right steering hydraulic pressure 34, and left steering hydraulic pressure 35, respectively.

  The lift cylinder 29 supplied with the lift hydraulic pressure 32 moves the fork 31 up and down via the mast 30 by the expansion and contraction of the lift cylinder 29. The tilt cylinder 28 to which the tilt hydraulic pressure 33 is supplied causes the mast 30 to tilt forward and backward as the tilt cylinder 28 extends and contracts.

  The left steering cylinder 36 and the right steering cylinder 37 are expanded and contracted by the right steering hydraulic pressure 34 and the left steering hydraulic pressure 35 (one expands and the other contracts), and the right steering wheel 39 and the left steering wheel 38 are moved. By operating it, the steering wheel of the vehicle is controlled to perform the steering operation of the vehicle. Further, the steering 24 and the steering detection means 5 are mechanically coupled, and the steering detection means 5 detects the operation presence / absence of the steering 24 and the steering speed of the steering 24 and transmits the operation to the control means 7 as an electrical signal. Do.

  In general, the hydraulic pressure for operating the right steering wheel 39 and the left steering wheel 38 is operated at an extremely low hydraulic pressure compared to the hydraulic pressure for expanding and contracting the lift cylinder 29 and the tilt cylinder 28. Therefore, when only the right steering wheel 39 and the left steering wheel 38 are operated, the rotation speed and the generated driving force of the cargo handling motor 12 are controlled at extremely low values.

  On the other hand, when the lift cylinder 29 and the tilt cylinder 28 are expanded and contracted, it is necessary to drive the cargo handling motor 12 to high speed rotation and maximum driving force (torque) within the specification range. In this case, the cargo handling motor 12 rotates. The number and the generated driving force are larger in number of rotations and driving force than the case where only the right steering wheel 39 and the left steering wheel 38 are operated.

  Here, when the lift cylinder 29 and the tilt cylinder 28, or the left steering cylinder 36 and the right steering cylinder 37 are fully contracted or extended, there is no more place for the main hydraulic pressure 26, and the hydraulic pressure of the main hydraulic pressure 26 increases. It will be. In this case, the relief valve 22 provided in the middle is operated, and the surplus main hydraulic pressure 26 is returned to the oil tank 21 as the feedback hydraulic pressure 27 (in general, the state where the feedback hydraulic pressure 27 is generated is This is called a relief state.)

  When this relief state occurs, a large driving load of the hydraulic pump 20 is generated in the loading motor 12, the rotation speed of the loading motor 12 decreases to a low value, and the generated driving force reaches an almost quasi-maximum level. It becomes. However, since the surplus main hydraulic pressure 26 is returned by the feedback hydraulic pressure 27, the rotation of the hydraulic pump 20 is not stopped, that is, the operation of causing the rotation of the cargo handling motor 12 to be zero is not performed.

  This configuration is a general configuration of a system that uses a motor to drive the driving force of traveling driving and cargo handling hydraulic driving, which are typical of so-called battery forklifts, among vehicles.

  In the present embodiment, an abnormality of the cargo handling rotation detection means 14 and the rotation signal detection means 9 is diagnosed based on the signals of the cargo handling operation detection means 3 and the steering detection means 5 and the cargo handling rotation signal 16 of the cargo handling motor 12.

Next, the drive characteristics of the cargo handling motor controlled by the vehicle control apparatus according to the present embodiment will be described with reference to FIGS. 2 and 3.
2 and 3 are explanatory diagrams of the drive characteristics of the cargo handling motor controlled by the vehicle control apparatus according to the embodiment of the present invention.

  The cargo handling motor 12 is a general motor (regardless of AC / DC), and the output characteristics have, for example, a constant torque range and a characteristic in which torque is attenuated according to rotation as shown in FIG. It has a rotational speed-torque characteristic peculiar to an electric motor.

  The cargo handling motor 12 drives the hydraulic pump 20, but the torque that should be generated by the cargo handling motor 12 varies depending on the presence / absence and weight of the cargo mounted on the fork 31.

  First, when the cargo handling motor 12 is driven when no load is loaded, since the load handling motor 12 is not subjected to a large load, the motor rotation speed Nm rotates around the rotation speed Nn. The reason why the maximum rotational speed is not reached is that even if no load is loaded, the fork 31 and the mast 30 themselves are heavy and have a load. The torque generated at this time is at the level of torque Tmn, and the oil pressure at that time is near Opn.

  On the other hand, when a load having the maximum loadable weight is loaded on the fork 31 and the cargo handling drive is performed, the cargo handling motor 12 is subjected to a correspondingly large load, and the motor rotation speed Nm is in a state of operating near the rotation speed Nf. The rotation speed is lower than the rotation speed Nn when no load is loaded. The generated torque at this time is torque Tmf, and the hydraulic pressure is Opf. When the load is between no load and maximum load, the cargo handling motor 12 operates while the motor rotation speed Nm is between the rotation speeds Nf and Nn and the generated torque is between the torques Tmn and Tmf.

  On the other hand, when the lift cylinder 29 and the tilt cylinder 28 are fully extended or contracted regardless of the presence or absence of luggage, the destination of the main hydraulic pressure 26 is lost, and the hydraulic pressure is returned to the oil tank 21 via the relief valve 22. A state occurs (this is referred to as a relief state). The hydraulic pressure at which this relief state occurs is generally set to a level that is higher than the hydraulic pressure Opf when the maximum load is loaded by setting the relief valve 22, and if it is not set as such, the maximum load is set. When mounting, the hydraulic pressure is lost and cargo handling operation cannot be performed.

  When a relief state occurs, a higher load is applied to the cargo handling motor 12, the generated torque is at the level of the torque Tmr, and the motor rotation speed Nm is at a level near the rotation speed Nr.

  Generally, the maximum possible torque of the cargo handling motor 12 is set to a level higher than the torque Tmr required in the relief state.

  In this way, as long as the cargo handling drive system operates in a normal state, the motor rotation speed Nm operates within the range of the rotation speed Nr to the vicinity of Nn, and the generated torque operates within the range of torque Tmn to Tmr. The conditions for operating in the region where the motor rotation speed Nm is lower than Nr and less than the rotation speed Nng are that the hydraulic pump 20 is locked (locked) and the motor rotation speed Nm does not increase, that is, there is an abnormality around the cargo handling rotation detection means 14. (This is not the case when the cargo handling motor 12 accelerates from a stationary state).

  The operation performed when the cargo handling motor 12 drives the hydraulic pump 20 includes the expansion and contraction of the tilt cylinder 28 and the lift cylinder 29 described above, as well as the right steering cylinder 37 and the left steering cylinder 36 that drive the steering system of the vehicle. It also includes driving.

  The load applied to the cargo handling motor 12 when the right steering wheel 39 and the left steering wheel 38 are driven is lower than that in the cargo handling operation, and the torque generated by the cargo handling motor 12 and the motor rotation speed are established at a very low level. .

  Here, as shown in FIG. 3, when the cargo handling is not operated and only the steering operation is performed, the motor rotation speed Nm and the torque at the level shown in the operation region only as shown in the output characteristic diagram may be used. .

  In this case, there is a condition for the cargo handling motor 12 to operate at a very low motor speed Nm, and even if the motor speed Nm is a low value, an abnormality has occurred in the system of the cargo handling rotation detection means 14 immediately. It may be impossible to judge.

  Thus, by confirming the matching with the operating conditions (operation detection) for driving the cargo handling motor 12 shown in FIG. 3 and the motor rotation speed Nm being driven, the system of the cargo handling rotation detection means 14 is confirmed. It is possible to find a condition that can detect the presence or absence of abnormality without erroneous diagnosis.

Next, the cargo handling operation when the rotation detection means is normal in the vehicle control apparatus according to the present embodiment will be described with reference to FIG.
FIG. 4 is an explanatory diagram of the cargo handling operation when the rotation detecting means is normal in the vehicle control apparatus according to the embodiment of the present invention. 4, FIG. 4 (A) shows the cargo handling operation signal, FIG. 4 (B) shows the motor rotation speed Nm, and FIG. 4 (C) shows the hydraulic pressure Op.

  As described above, the control means 7 drives and controls the cargo handling motor 12 based on the cargo handling operation signal detected by the cargo handling operation detection means 3. As shown in FIG. 4A, when the cargo handling operation signal changes from OFF to ON at time t1, the cargo handling electric motor 12 is driven, and as shown in FIG. 4B, the motor rotational speed Nm is a predetermined rotational speed. To rise.

  The motor rotation speed Nm reached at this time is set in a range of rotation speeds Nf to Nn according to the load applied to the cargo handling motor 12. Similarly, as shown in FIG. 4C, the main oil pressure 26 is also at the level of oil pressures Opf to Opn. Here, for example, when the hydraulic cylinder is fully expanded and contracted at time t2, the hydraulic pressure is in a relief state, the main hydraulic pressure 26 is increased to the level of Opr, and at the same time, the motor rotational speed Nm is decelerated to the vicinity of the rotational speed Nr. Become. After that, when the cargo handling operation signal changes from ON to OFF at time t3, the driving of the cargo handling motor 12 is stopped, and as shown in FIG. 4B, the motor rotation speed Nm is attenuated and stopped to zero.

  As long as the cargo handling motor 12 is driven normally, the motor rotational speed Nm as shown in FIG. 4 is changed.

Next, the cargo handling operation when the rotation detection means is abnormal in the vehicle control apparatus according to the present embodiment will be described with reference to FIG.
FIG. 5 is an explanatory diagram of the cargo handling operation when the rotation detection means is abnormal in the vehicle control apparatus according to the embodiment of the present invention. 5A shows a cargo handling operation signal, FIG. 5B shows the motor rotation speed Nm, FIG. 5C shows the hydraulic pressure Op, and FIG. 5D shows the abnormality diagnosis flag. Show.

  When an abnormality occurs in the cargo handling rotation detecting means 14 of the cargo handling motor 12 and the control means 7 cannot recognize the motor speed Nm, the control means 7 cannot control the speed of the cargo handling motor 12, so the motor speed Nm Does not rise and operates near zero rotation. When such a state occurs, the hydraulic pump 20 is not driven, so that the main hydraulic pressure 26 does not increase and remains almost zero. The abnormality of the cargo handling rotation detection means 14 of the cargo handling motor 12 means that the rotation detection means 14 itself fails or the rotation detection means 14 is normal, but the rotation detection means 14 and the rotation signal detection means 9 are connected. There are cases where the wiring to be disconnected is disconnected, or the interface circuit of the rotation signal detecting means 9 that takes in the output signal of the rotation detecting means 14 is broken. These are collectively referred to as rotation sensor signal abnormality.

  Here, in the present embodiment, as shown in FIG. 5 (D), based on the acceleration rise settling time up to a predetermined rotation when the cargo handling motor 12 is normally driven, in this embodiment, a waiting time for detecting an abnormality diagnosis Tw is provided, and the abnormality diagnosis is started after the abnormality detection waiting time tw elapses. After the abnormality diagnosis is started, as shown in FIG. 5A, at time t1, the motor rotation speed Nm should reach Nr or more after the abnormality diagnosis waiting time tw has elapsed since the abnormal cargo handling operation signal was turned ON. However, as shown in FIG. 5B, when this cannot be detected and the state where the motor rotation speed Nm is less than an arbitrary threshold value Nng continues for the abnormality detection time tf, the cargo handling rotation detection is performed. It is determined that an abnormality has occurred in the system of the means 14, and an abnormality diagnosis flag is set as shown in FIG. The control means 7 and the CPU 8 perform protective measures such as stopping the drive control of the cargo handling motor 12 based on the abnormality diagnosis flag. In this way, by comparing the operation condition of the cargo handling motor 12 using the cargo handling operation signal as a trigger, the system of the cargo handling rotation detection means 14, that is, the rotation sensor signal can be easily obtained without requiring a special device. Abnormalities can be diagnosed.

Next, referring to FIG. 6, the diagnosis operation based on the operation condition in the vehicle control apparatus according to the present embodiment will be described.
FIG. 6 is an explanatory diagram of a diagnostic operation based on operating conditions in the vehicle control apparatus according to the embodiment of the present invention.

  The load handling motor 12 is controlled and driven by the control means 7 based on signals from the load handling operation detection means 3 and the steering detection means 5. For this reason, the abnormality diagnosis of the cargo handling rotation detection means 14 and the like needs to be performed without erroneous diagnosis based on the status of the cargo handling operation detection means 3, the steering detection means 5, and the cargo handling motor 12.

  As shown in FIG. 6, in the condition 1, when both the cargo handling operation signal from the cargo handling operation detection means 3 and the steering signal from the steering detection means 5 are detected to be OFF, the cargo handling motor 12 is not driven. In this case, the cargo handling rotation detection means 14 operates so as not to perform abnormality diagnosis.

  In condition 2, when the cargo handling operation signal ON is detected, the cargo handling electric motor 12 is driven. In this case, the mode of performing the diagnosis of the cargo handling rotation detection means 14 is set. At this time, when the motor rotation speed Nm of the cargo handling motor 12 is larger than the vicinity of the rotation Nr in the relief state, it can be regarded as normal, so the diagnosis result of the cargo handling rotation detection means 14 is normal. In the case of this condition 2, whether the steering signal is ON or OFF, the loading motor 12 is preferentially driven based on the loading operation signal, and the controlled rotation of the loading motor 12 based on the loading operation signal is performed. Since the number is a higher control state, the steering signal need not be included as a condition.

  In condition 3, when the cargo handling operation signal ON is detected and the cargo handling motor 12 is driven, if the motor rotation speed Nm of the cargo handling motor 12 is lower than the threshold value Nng, the cargo handling rotation detection is performed. Since it can be considered that an abnormality has occurred in the means 14, in this case, it is determined that the cargo handling rotation detection means 14 has an abnormality.

  In Condition 4 and Condition 5, when the cargo handling operation signal is OFF and the steering signal is ON, only the steering operation is being performed. In this case, if the steering speed detected based on the signal from the steering detection means 5 is less than a threshold value SSTR based on the signal from the steering detection means 5, the cargo handling motor that is performing the steering operation is used. It is assumed that the number of revolutions of 12 is controlled in a very low state. In this case, in order to prevent erroneous diagnosis, the cargo handling rotation detection means 14 is not diagnosed. When the steering speed is greater than or equal to a certain threshold value SSTR, the operation of the cargo handling rotation detection means 14 is performed. Even in this case, the abnormality diagnosis threshold value is not Nng but a diagnosis threshold value for a steering operation only mode called Nps, and the determination is made by comparing this threshold value with the motor rotation speed Nm. By doing so, it is possible to perform abnormality diagnosis of the rotation detecting means without erroneous diagnosis even in the case of an operation region where only the steering operation is performed and the speed of rotation of the cargo handling motor 12 is low.

  Condition 6 is an operation when the motor rotation speed Nm is equal to or greater than the threshold value Nps when the cargo handling rotation detection means 14 is diagnosed with only the steering operation and the steering speed equal to or higher than SSTR. In this case, since the rotation speed of the cargo handling motor 12 can be regarded as normal, the abnormality diagnosis result is normal.

  In condition 7, when the handling operation signal and the steering signal are both ON and OFF, the motor rotation speed Nm is in the reverse rotation state and indicates a state exceeding the threshold −Nrev. Assumes that an abnormality has occurred in the cargo handling rotation detection means 14 and the like, and performs an abnormality detection process. In general, the hydraulic pump 20 is generally used only in one direction, and the construction electric motor 12 is controlled so as to rotate only in one direction. When a reverse rotation state is detected under such conditions, there is a possibility that an abnormality has occurred in the cargo handling rotation detection means 14, and therefore when such a state is detected, it is considered that there is an abnormality, An abnormality detection process is performed.

  As described above, the operation condition and the comparison threshold value are set finely and the abnormality diagnosis is performed, so that the abnormality detection of the cargo handling rotation detection means 14 can be performed without erroneous diagnosis only by comparing the operation state and the motor rotation speed Nm. It becomes possible.

Next, a rotation detection signal in a normal state in the vehicle control apparatus according to the present embodiment will be described with reference to FIG.
FIG. 7 is an explanatory diagram of a rotation detection signal in a normal state in the vehicle control apparatus according to the embodiment of the present invention.

  The cargo handling rotation detection means 14 and the traveling rotation detection means 13 provided in the cargo handling motor 12 and the traveling motor 11 generate a cargo handling rotation signal 16 and a traveling rotation signal 15 according to the rotation of the respective motors. Hereinafter, the state in the case of driving of the cargo handling motor 12 will be described.

  As shown in FIGS. 7B and 7C, the cargo handling rotation signal 16 is generated as two signals of two phases, ie, an A phase signal and a B phase signal. This signal is transmitted to the rotation signal detection means 9 inside the control means 7.

  The rotation signal detection means 9 performs processing such as filter processing, amplification processing, waveform shaping, etc. on the signal of the cargo handling rotation signal 16, and outputs the processed result as the rotation pulse signal 10 of A pulse and B pulse (FIG. 7 (D ), (E)). The A pulse and the B pulse of the rotation pulse signal 10 are waveforms having a predetermined phase difference, and the rotation direction of the cargo handling motor 12 can be determined by this phase difference. The pulse cycle operates so that the frequency changes according to the rotation speed of the cargo handling motor 12. The rotation pulse signal 10 is transmitted to the CPU 8, and the CPU 8 counts the number of pulses by the pulse counting counter by reading the A pulse and the B pulse (FIG. 7F). This pulse counting counter is configured such that the rotation pulse signal 10 is an addition counter when the cargo handling motor 12 is rotating forward, and is a subtraction counter when rotating backward. By reading the value of the count counter every unit time and obtaining the amount of change per unit time, the motor rotation speed Nm can be calculated (FIG. 7G). In response to the signal from the cargo handling operation detection means 3 (FIG. 7A), when the control means 7 drives the cargo handling motor 12, the motor speed Nm of the cargo handling motor 12 is returned to the control means 7 with such a configuration. Thus, the rotation speed of the cargo handling motor 12 is controlled.

  Here, when the cargo handling electric motor 12 is being driven and normally driven, the motor rotational speed Nm is between Nf and Nn, and when the relief state is reached, the motor rotational speed Nm is in the vicinity of Nr. Become. At this time, as shown in FIG. 7F, the count counter operates so that the inclination of the count counter becomes gentler as the motor rotation speed Nm is lower.

Next, a rotation detection signal in an abnormal state in the vehicle control apparatus according to the present embodiment will be described with reference to FIG.
FIG. 8 is an explanatory diagram of a rotation detection signal in an abnormal state in the vehicle control apparatus according to the embodiment of the present invention.

  A cargo handling rotation signal 16 (FIG. 8A) issued from the cargo handling rotation detection means 14 is transmitted to the CPU 8 through the rotation signal detection means 9.

  Here, as shown in FIG. 8B, when the A-phase signal in the cargo handling rotation signal 16 is not generated due to some problem at the time tf1, as shown in FIG. A state occurs in which the A pulse of the transmitted rotation pulse signal 10 does not change. Since the CPU 8 eliminates the phase difference between the A pulse and the B pulse of the rotation pulse signal 10 and the change in the A pulse cannot be read, the count counter stops counting as shown in FIG. When the count counter does not change, the count counter change amount per unit time becomes zero, and as a result, the calculated value of the motor rotation speed Nm becomes zero (FIG. 8G).

  The control means 7 is zero when the cargo handling operation signal from the cargo handling control means 3 is in an ON state, and when the apparatus is normally normal, the motor rotational speed Nm of the cargo handling motor 12 should be within the range of near Nr to Nn. Thus, the state falls below Nng, which is the abnormality determination threshold, and therefore abnormality determination is performed from time tf2, as shown in FIG. 8 (H). When the abnormal state continues for a predetermined time tfe until time tf3, the rotation detection means of either the cargo handling rotation detection means 14, the cargo handling rotation signal 16, the rotation signal detection means 9, or the rotation pulse signal 10 As shown in FIG. 8 (H), the flag is set at the time tf3 and the abnormality diagnosis process is performed. By adopting such a configuration, it is possible to determine the abnormality of the rotation detecting means without preparing a special device or the like.

Next, a rotation detection signal at the time of reverse rotation detection in the vehicle control apparatus according to the present embodiment will be described with reference to FIG.
FIG. 9 is an explanatory diagram of a rotation detection signal when reverse rotation is detected in the vehicle control apparatus according to the embodiment of the present invention.

  The cargo handling rotation signal 16 (FIG. 9A) is converted into a rotation pulse signal 10 by the rotation signal detection means 9 and counted by the CPU 8. At this time, when an abnormality occurs in the cargo handling rotation detection means 14 and the like and the phases of the A phase signal and the B phase signal are switched as shown in FIGS. 9B and 9C, FIG. As shown in (E), the phases of the A pulse and B pulse signals of the rotation pulse signal 10 are also switched. When this is counted by the count counter of the CPU 8, the count counter of the CPU 8 changes from the up count to the down count from the time when the phases of the A phase signal and the B phase signal are switched (FIG. 9F). If the motor rotation speed Nm is obtained from the amount of change per unit time based on this, the motor rotation speed Nm results in a reverse rotation state that is a negative value (FIG. 9G).

  The load handling motor 12 is controlled by the control means 7 so as not to perform the reverse operation for the convenience of driving the hydraulic pump 20, the motor rotation speed Nm indicates the reverse rotation state, and the value is an arbitrary threshold value. When the value exceeds -Nrev, it is assumed that an abnormality has occurred in the rotation detection means of either the cargo handling rotation detection means 14, or the cargo handling rotation signal 16, or the rotation signal detection means 9 or the rotation pulse signal 10. Therefore, as shown in FIG. 9 (H), the control means 7 determines the predetermined time tfrev from the time tr1 when the abnormality occurs to the time tr3 starting from the time tr2 when the threshold value −Nrev is exceeded. When the abnormal state continues for a period of time, the abnormality is determined at the time tr3 and the flag is set to perform the abnormality diagnosis process. By adopting such a configuration, it is possible to determine the abnormality of the rotation detecting means without preparing a special device or the like.

Next, the contents of the abnormality detection process of the rotation detection means in the vehicle control apparatus according to the present embodiment will be described with reference to FIG.
FIG. 10 is a flowchart showing the contents of the abnormality detection process of the rotation detecting means in the vehicle control apparatus according to the embodiment of the present invention.

  In step s5, the control means 7 determines whether or not the motor rotation speed Nm of the cargo handling motor 12 is smaller than a predetermined negative rotation speed -NRev. The case where the rotational speed is smaller than -NRev is the case where the cargo handling motor 12 is reversely rotated as described with reference to FIG. 9, and the condition 7 in FIG. The addition process is started. If it is greater than the rotational speed -NRev, the operation proceeds to step s10.

  In step s10, the control means 7 determines whether or not a cargo handling operation is performed based on a signal from the cargo handling operation detection means 3. If not operated, the process proceeds to step s45. If operated, the process proceeds to step s15.

  If a cargo handling operation has been performed, in step s15, the cargo handling diagnosis waiting time tw is counted. This counting process requires a rise time for the motor rotation speed Nm of the cargo handling motor 12 to rise to a predetermined rotation speed after the cargo handling operation is performed. This is an acceleration time waiting timer provided as an evasion measure.

  Next, in step s20, it is determined whether the cargo handling diagnosis waiting time counter has passed a predetermined time tw. If the predetermined time tw has not elapsed, the diagnosis process is terminated. If the cargo handling diagnosis waiting time counter has passed the predetermined time tw, the process proceeds to step s25.

  Next, in step s25, the control means 7 compares the motor rotation speed Nm with the rotation detection means abnormality determination threshold value Nng, and if the condition of Nm <Nng is satisfied (condition 3 in FIG. 6), step s30 is performed. If not, the process proceeds to step s40. If not established, the motor rotation speed Nm has reached the predetermined rotation speed Nng or more in step s40, and it can be determined that there is no problem in the rotation detection means system, so the abnormality diagnosis counter is cleared and processed. Exit.

  On the other hand, if it is determined in step s10 that the cargo handling operation has not been performed, in step s45, the control means 7 determines whether or not the steering operation is being performed based on the signal from the steering detection means 5. If the steering signal is on, the process proceeds to step s50. If the steering signal is off, the counter for the cargo handling diagnosis waiting time tw is cleared in step s65, and the diagnosis process is terminated.

  When the steering signal is ON, in step s50, the control means 7 determines whether or not the steering speed detected based on the signal from the steering detection means 5 is equal to or higher than the threshold value SSTR. When the steering speed is less than the threshold value SSTR, it is considered that the steering operation is performed but the rotation speed of the cargo handling motor 12 is controlled at a very low state. Proceeding to step s60, the control means 7 does not perform the diagnosis of the cargo handling rotation detection means 14 (condition 4 in FIG. 6).

  When the steering speed is equal to or higher than the threshold value SSTR, the control means 7 uses the diagnosis threshold value Nps for the steering operation only mode, and the motor rotation speed Nm is the diagnosis threshold value for the steering operation only mode. It is determined whether or not the value is smaller than Nps. When it is larger than the diagnostic threshold value Nps for the steering operation only mode, the counter of the cargo handling diagnosis waiting time tw is cleared in step s65, and the diagnostic processing is terminated. If it is smaller than the diagnostic threshold value Nps for the steering only mode (condition 5 in FIG. 6), the process proceeds to step s30.

  If it is determined Yes in step s5, if it is determined Yes in step 25, and if it is determined Yes in step s55, in order to start abnormality diagnosis, in step s30, the control means 7 The diagnosis counter is added, and in the next step s35, it is determined whether or not the abnormality diagnosis counter has passed the predetermined time tf. If the predetermined time has not elapsed, the disconnection process is terminated. When the predetermined time has elapsed, it can be considered that an abnormality has occurred in the rotation detection means system. Therefore, in step s40, the control means 7 sets a rotation detection means abnormality flag and takes a predetermined abnormality determination measure.

  By adopting such a procedure, it is possible to reliably perform abnormality diagnosis of the rotation detecting means system without erroneous diagnosis at the time of cargo handling operation, which can contribute to improvement of vehicle maintenance reliability.

As described above, according to the present embodiment, it is possible to detect an abnormality in the rotation sensor signal without having a redundant system or a plurality of rotation sensors.

1 is a system block diagram showing an overall configuration of a vehicle equipped with a vehicle control device according to an embodiment of the present invention. It is explanatory drawing of the drive characteristic of the cargo handling motor controlled by the vehicle control apparatus by one Embodiment of this invention. It is explanatory drawing of the drive characteristic of the cargo handling motor controlled by the vehicle control apparatus by one Embodiment of this invention. It is explanatory drawing of the cargo handling operation | movement when rotation detection means is normal in the control apparatus of the vehicle by one Embodiment of this invention. It is explanatory drawing of cargo handling operation at the time of the rotation detection means abnormal in the control apparatus of the vehicle by one Embodiment of this invention. It is explanatory drawing of the diagnostic operation | movement based on an operation condition in the control apparatus of the vehicle by one Embodiment of this invention. It is explanatory drawing of the rotation detection signal in a normal state in the control apparatus of the vehicle by one Embodiment of this invention. It is explanatory drawing of the rotation detection signal in the abnormal state in the control apparatus of the vehicle by one Embodiment of this invention. It is explanatory drawing of the rotation detection signal at the time of reverse rotation detection in the control apparatus of the vehicle by one Embodiment of this invention. It is a flowchart which shows the content of the abnormality detection process of a rotation detection means in the control apparatus of the vehicle by one Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Accelerator means 2 ... Forward / reverse detection means 3 ... Handling operation detection means 4 ... Hydraulic pressure detection means 5 ... Steering detection means 6 ... Control apparatus 7 ... Control means 8 ... CPU
9 ... Rotation signal detection means 10 ... Rotation pulse signal
DESCRIPTION OF SYMBOLS 11 ... Traveling motor 12 ... Cargo handling motor 13 ... Traveling rotation detection means
14 ... Cargo handling rotation detection means 15 ... Traveling rotation signal 16 ... Cargo handling rotation signal 17 ... Power supply 18 ... Traveling power conversion means 19 ... Cargo handling power conversion means 20 ... Hydraulic pump 21 ... Oil tank 22 ... Relief valve
23 ... Control valve 24 ... Steering 25 ... Steering rod 26 ... Main oil pressure 27 ... Feedback oil pressure 28 ... Tilt cylinder 29 ... Lift cylinder 30 ... Mast 31 ... Fork 32 ... Lift oil pressure 33 ... Tilt oil pressure 34 ... Right steering oil pressure 35 ... Left steering Hydraulic pressure 36 ... Left steering cylinder
37 ... Right steering cylinder 38 ... Left steering wheel 39 ... Right steering wheel 40 ... Steering speed

Claims (6)

Used for a vehicle having a hydraulic pressure generating motor used to drive the hydraulic pressure generating means to supply hydraulic pressure to be supplied to the hydraulic cylinder, and a hydraulic pressure generating rotation detecting means for detecting the rotation speed of the hydraulic pressure generating motor. And
A vehicle control device having a control means for controlling the hydraulic pressure generating motor based on an operation signal from an operation means for driving the hydraulic cylinder,
The control means is a rotation sensor from the oil pressure generation rotation detecting means, based on any combination of the operation signal of the operation means, the motor rotation speed detected by the oil pressure generation rotation detecting means, and the steering speed. A control apparatus for a vehicle, characterized by determining a signal abnormality. The vehicle control device according to claim 1,
A cargo handling operation detecting means for detecting a cargo handling operation state is provided,
The control means has a predetermined value for the rotation speed detection value of the hydraulic pressure generating motor based on the rotation sensor signal after an arbitrary time has elapsed from the time when the cargo handling operation detecting means detects that the handling operation has been performed. A vehicle control device characterized by diagnosing an abnormality of a rotation sensor signal when it is equal to or less than a threshold value. The vehicle control device according to claim 2,
The control means diagnoses an abnormality when a state in which the rotation speed detection value of the hydraulic pressure generating motor based on the rotation sensor signal is equal to or less than a predetermined threshold value has passed a predetermined threshold time. A control device for a vehicle control device. The vehicle control device according to claim 1,
The control means is abnormal when the detected value of the rotation number of the hydraulic pressure generating motor is in a reverse rotation state and a state in which the reverse rotation state exceeds a predetermined threshold value has passed a predetermined threshold time. A control apparatus for a vehicle, characterized by performing diagnosis. The vehicle control device according to claim 1,
A steering detection means for detecting an operation state;
The control means is determined to be steering based on a signal based on the steering detection means, and the steering speed calculated based on the signal from the steering detection means is a predetermined threshold value or more. Is a vehicle control device characterized by diagnosing an abnormality. The vehicle control device according to claim 1,
A steering detection means for detecting an operation state;
The vehicle control apparatus according to claim 1, wherein the control means does not detect abnormality when it is determined that the vehicle is steering based on a signal based on the steering detection means.

Images