MATERIALS HANDLING VEHICLE HAVING A CONTROL APPARATUS FOR DETERMINING AN ACCELERATION VALUE

• US 20090198416A1
• Filed: 01/27/2009
• Published: 08/06/2009
• Est. Priority Date: 02/05/2008
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Jensen, Eric L., Crabill, Monty L., Wetterer, George Robert, Schloemer, James Francis
• Granted Patent: US 8,412,431 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B66F 9/075 Constructional features or details
• CPC Class Codes: B66F 9/07509 Braking
• CPC Class Codes: B66F 9/07568 Steering arrangements
• CPC Class Codes: B66F 9/24 Electrical devices or systems

Abstract

A materials handling vehicle is provided comprising: a frame; wheels supported on the frame; a traction motor coupled to one of the wheels to effect rotation of the one wheel; a speed control element operable by an operator to define a speed control signal corresponding to a desired speed of the traction motor; a system associated with a steerable wheel to effect angular movement of the steerable wheel; and control apparatus coupled to the speed control element to receive the speed control signal, and coupled to the traction motor to generate a drive signal to the traction motor in response to the speed control signal to control the operation of the traction motor. The control apparatus may determine an acceleration value for the traction motor based on at least one of an angular position of the steerable wheel, a speed of the traction motor and a current position of the speed control element as defined by the speed control signal.

Claims

1. A materials handling vehicle comprising:

a frame;

wheels supported on said frame;

a traction motor coupled to one of said wheels to effect rotation of said one wheel;

a speed control element operable by an operator to define a speed control signal corresponding to a desired speed of said traction motor;

a system associated with a steerable wheel to effect angular movement of said steerable wheel;

control apparatus coupled to said speed control element to receive said speed control signal, and coupled to said traction motor to generate a drive signal to said traction motor in response to said speed control signal to control the operation of said traction motor;

said control apparatus storing at least one acceleration value for said traction motor defining a rate of acceleration for said traction motor; and

said control apparatus determining at least one acceleration reduction factor based on at least one of an angular position of said steerable wheel and a speed of said traction motor.

2. The materials handling vehicle as set out in claim 1, wherein said control apparatus determines a first acceleration reduction factor based on said angular position of said steerable wheel and a second acceleration reduction factor based on said speed of said traction motor.

3. The materials handling vehicle as set out in claim 2, wherein said control apparatus further selects one of said first and second acceleration reduction factors and multiplies said selected reduction factor by said acceleration value to determine an updated acceleration value, said control apparatus using said updated acceleration value when generating said drive signal to said traction motor.

4. The materials handling vehicle as set out in claim 3, wherein said control apparatus chooses one of said first and second acceleration reduction factors causing a greatest reduction in said acceleration value as said selected one reduction factor.

5. The materials handling vehicle as set out in claim 2, wherein said system comprises a sensor generating signals indicative of an angular position of said steerable wheel.

6. The materials handling vehicle as set out in claim 2, further comprising a sensor associated with said traction motor for generating signals indicative of a speed of said traction motor.

7. The materials handling vehicle as set out in claim 2, wherein said control apparatus further determines a third acceleration reduction factor based on a current position of said speed control element as defined by said speed control signal.

8. The materials handling vehicle as set out in claim 7, wherein said control apparatus further selects one of said first, second and third acceleration reduction factors and multiplies said selected reduction factor by said acceleration value to determine an updated acceleration value, said control apparatus using said updated acceleration value when generating said drive signal to said traction motor.

9. The materials handling vehicle as set out in claim 8, wherein said control apparatus chooses one of said first, second and third acceleration reduction factors causing a greatest reduction in said acceleration value as said selected one reduction factor.

10. The materials handling vehicle as set out in claim 1, wherein said control apparatus stores at least two acceleration values for said traction motor, each of said acceleration values corresponding to a separate vehicle mode of operation, said control apparatus selecting one of said at least two acceleration values based on a current mode of operation for said vehicle.

11. The materials handling vehicle as set out in claim 10, wherein said control apparatus determines a first acceleration reduction factor based on said steered wheel angle and a second acceleration reduction factor based on said speed of said traction motor.

12. The materials handling vehicle as set out in claim 11, wherein said control apparatus further selects one of said first and second acceleration reduction factors and multiplies said selected reduction factor by said selected one acceleration value to determine an updated selected one acceleration value, said control apparatus using said updated selected one acceleration value when generating said drive signal to said traction motor.

13. The materials handling vehicle as set out in claim 10, wherein two or more of said vehicle modes of operation may vary based on a direction in which said vehicle is operated.

14. The materials handling vehicle as set out in claim 1, wherein said system comprises a steer-by-wire system associated with said steerable wheel to effect angular movement of said steerable wheel about a first axis, said steer-by-wire system comprising:

a control handle capable of being moved by an operator to generate a steer control signal corresponding to a desired angular position of said steerable wheel;

biasing structure associated with said control handle to bias said control handle towards a centered position corresponding to said steerable wheel being positioned in a straight-ahead position;

a tactile feedback device associated with said control handle to generate a force counter to an operator applied force on said control handle which counter force varies based on a variable tactile feedback device signal; and

a steer motor coupled to said steerable wheel to effect angular movement of said steerable wheel about the first axis.

15. A materials handling vehicle comprising:

a frame;

wheels supported on said frame;

a traction motor coupled to one of said wheels to effect rotation of said one wheel;

a speed control element operable by an operator to define a speed control signal corresponding to a desired speed of said traction motor;

a system associated with a steerable wheel to effect angular movement of said steerable wheel;

control apparatus coupled to said speed control element to receive said speed control signal, and coupled to said traction motor to generate a drive signal to said traction motor in response to said speed control signal to control the operation of said traction motor;

said control apparatus determining an acceleration value for said traction motor based on at least one of an angular position of said steerable wheel, a speed of said traction motor and a current position of said speed control element as defined by said speed control signal.

16. The materials handling vehicle as set out in claim 15, wherein said control apparatus determines a first acceleration reduction factor based on said angular position of said steerable wheel, a second acceleration reduction factor based on said speed of said traction motor and a third acceleration reduction factor based on said current position of said speed control element.

17. The materials handling vehicle as set out in claim 16, wherein said control apparatus selects one of a plurality of initial acceleration values based on a current vehicle mode of operation.

18. The materials handling vehicle as set out in claim 17, wherein said control apparatus further selects one of said first, second and third acceleration reduction factors and multiplies said selected reduction factor by said selected one initial acceleration value to determine an updated selected one acceleration value, said control apparatus defining said updated selected one acceleration value as said determined acceleration value.

19. The materials handling vehicle as set out in claim 15, wherein said system comprises a steer-by-wire system associated with said steerable wheel to effect angular movement of said steerable wheel about a first axis, said steer-by-wire system comprising:

a control handle capable of being moved by an operator to generate a steer control signal corresponding to a desired angular position of said steerable wheel;

biasing structure associated with said control handle to bias said control handle towards a centered position corresponding to said steerable wheel being positioned in a straight-ahead position;

a tactile feedback device associated with said control handle to generate a force counter to an operator applied force on said control handle which counter force varies based on a variable tactile feedback device signal; and

a steer motor coupled to said steerable wheel to effect angular movement of said steerable wheel about the first axis.

20. The materials handling vehicle as set out in claim 15, wherein said control apparatus uses points from one or more curves each defining an acceleration value that varies based on one of the angular position of said steerable wheel, the speed of said traction motor and the current position of said speed control element to determine said acceleration value for said traction motor.

21. A materials handling vehicle comprising:

a frame comprising an operator'"'"'s compartment;

wheels supported on said frame;

a traction motor coupled to one of said wheels to effect rotation of said one wheel;

a system associated with said steerable wheel to effect angular movement of said steerable wheel about a first axis, said system comprising a control handle capable of being moved by an operator to define a desired angular position of said steerable wheel;

control apparatus varying a drive signal to said traction motor based on one of said desired angular position of said steerable wheel, a calculated actual position of said steerable wheel, a steerable wheel error, and a steer rate of said control handle.

22. The materials handling vehicle as set out in claim 21, wherein said control apparatus determines a first traction motor speed limit based on said desired angular position of said steerable wheel, a second traction motor speed limit based on said calculated actual position of said steerable wheel, a third traction motor speed limit based on said steerable wheel error and a fourth traction motor speed limit based on said steer rate of said control handle, said control apparatus selects the smallest of the first, second, third and fourth traction motor speed limits and uses said smallest limit when generating said drive signal to said traction motor.

23. The materials handling vehicle as set out in claim 21, wherein said system comprises a steer-by-wire system associated with said steerable wheel to effect angular movement of said steerable wheel about a first axis, said steer-by-wire system comprising:

a control handle capable of being moved by an operator to generate a steer control signal corresponding to a desired angular position of said steerable wheel;

biasing structure associated with said control handle to bias said control handle towards a centered position corresponding to said steerable wheel being positioned in a straight-ahead position;

a tactile feedback device associated with said control handle to generate a force counter to an operator applied force on said control handle which counter force varies based on a variable tactile feedback device signal; and

a steer motor coupled to said steerable wheel to effect angular movement of said steerable wheel about the first axis.