지게차의 부하 적응형 동력제어를 위한 적재중량 추정 알고리즘에 관한 연구

Abstract

This paper focuses on the load estimation strategy for the engine forklift. The load weight is the key parameter of the engine forklift for progressing it toward the electro-mechanical system. The load weight is frequently changed during the normal operations as the cargo is loaded or unloaded from the fork. This paper introduces the algorithm for the estimation of the load weight using the pressure sensor at the inlet port of the lift cylinder. Even though the pressure sensor value is proportional to the load weight according to the kinetic equation of the forklift, but it is not when the fork is moving along the lifting direction due to the friction forces between components consisting the mast structure. The main contribution of this paper is to develop the estimation algorithm which calculates the load weight from the pressure sensor regardless of the movement of the fork or the tilt angle of the mast. The feasibility of this algorithm is validated by applying the algorithm to the experimental data, and the result shows the successful estimation of the load weight. This algorithm will be applied on the adaptive shift algorithm of the transmission, and the engine control algorithm for the forklift.