MOTOR DRIVE DEVICE FOR ELECTRIC FORKLIFT AND ELECTRIC FORKLIFT USING SAME

摘要

A torque command value generation unit (202) generates a left torque command value (Tlcom) that commands the torque of a left traveling motor (M1L) and a right torque command value (Trcom) that commands the torque of a right traveling motor (M1R) on the basis of a speed command value (Vref), a turning angle (δr), a left speed detection value (Vl) indicating the current speed of the left traveling motor(M1L), and a right speed detection value (Vr) indicating the current speed of the right traveling motor(M1R). A pitching detection unit (230) detects a pitch angular acceleration (ωp') around a pitch axis of a vehicle body of an electric forklift. A first multiplier (240) multiplies the pitch angular acceleration (ωp') detected by the pitching detection unit (230) by a first coefficient (K1) to generate a first correction value (Tcmp1). A pitching correction unit (244) applies the first correction value (Tcmp1) to each of the left torque command value (Tlcom) and the right torque command value (Trcom).