Movement buffering control system and method for forklift tilt cylinder based on angle compensation

A movement buffering control method for forklift tilt cylinder based on angle compensation, comprising the following steps:

• step 1:
• when a forklift is non-loaded on a level ground, a telescopic position of a tilt cylinder, corresponding to a vertical mast, being a neutral position of the cylinder, acquiring a limit forward-tilting angle B and a limit backward-tilting angle C of the mast tilted forward and backward from a vertical state;
• step 2:
• on the level ground, measuring and acquiring, by using a control variable method, a plurality of groups of mast deformation angles γ caused by load, and statistically calculating a corresponding relationship between load weights and γ;
• step 3:
• when the forklift operates, acquiring a current tilt angle α of the mast relative to a vertical plane, a current tilt angle β of a vehicle body relative to the level ground and a current load weight on a fork in real time when the vehicle body operates on the ground;
• step 4:
• calculating a tilt angle A of a current actual position of the mast with respect to the actual position of the mast currently corresponding to the neutral position of the cylinder in real time, A=α−β−γ;
• step 5:
• presetting a mast forward-tilting deceleration angle B1 and a mast backward-tilting deceleration angle C1, and judging whether the forklift is tilting forward or tilting backward:
• when the forklift is tilting forward, performing step 6;
• and when the forklift is tilting backward, performing step 7;
• step 6:
• comparing A, B and B1, when A=B1, a forward-tilting proportional valve in the forklift being controlled to reduce an amount of oil supplied to the tilt cylinder;
• and when A=B, the forward-tilting proportional valve cutting off an oil supply path to the tilt cylinder;
• and
• step 7:
• comparing A, C and C1, when A=C1, a backward-tilting proportional valve in the forklift being controlled to reduce an amount of oil supplied to the tilt cylinder;
• and when A=C, the backward-tilting proportional valve cutting off an oil supply path to the tilt cylinder.