CN104002686A - Braking system and method for container straddle carrier - Google Patents
Braking system and method for container straddle carrier Download PDFInfo
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- CN104002686A CN104002686A CN201410264338.8A CN201410264338A CN104002686A CN 104002686 A CN104002686 A CN 104002686A CN 201410264338 A CN201410264338 A CN 201410264338A CN 104002686 A CN104002686 A CN 104002686A
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Abstract
The invention relates to a braking system and method for a container straddle carrier. The braking system comprises a diesel engine power system, a battery power system, a driver, a vehicle control system, a mechanical braking mechanism, a braking pedal and a wheel speed sensor. The driver is connected with the diesel engine power system and the battery power system, the driver is respectively driven by the diesel engine power system and the battery power system or driven by the diesel engine power system and the battery power system at the same time, and when participating in braking, the driver converts braking energy into electric energy to charge a battery pack of the battery power system. The braking pedal is used for acquiring a braking signal. The wheel speed sensor is used for acquiring the wheel speed of the container straddle carrier. The vehicle control system is connected with the diesel engine power system, the battery power system, the driver, the mechanical braking mechanism, the braking pedal and the wheel speed sensor, the vehicle control system decides the adopted braking mode according to the braking signal, the wheel rotating speed and the battery electric quantity of the battery power system.
Description
Technical field
The present invention relates to a kind of container straddle carrier, especially relate to a kind of brake system of container straddle carrier.
Background technology
Increasingly mature along with battery technology, the automation equipment of hybrid power or pure battery pack power arises at the historic moment.Different from the equipment of conventional diesel unit, this novel device, because used battery technology, makes storage and recycling to some renewable sources of energy become possibility.
For container straddle carrier; regenerative brake power, the decline potential energy that hoists are similar to the renewable sources of energy exactly; so no matter still improve the angle of the flying power of equipment from the aspect of environmental protection, seeking a kind of good energy management system all will become one of main flow problem of following this kind equipment.
The brake system of known mechanical equipment, all for particular device, cannot adapt to the demand of container straddle carrier.Therefore develop a kind of brake system of container straddle carrier, the requirement that can meet energy recovery recycling can meet required braking force again becomes the research topic of this area.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of brake system of container straddle carrier.
The present invention solves the problems of the technologies described above the brake system that the technical scheme adopting is a kind of container straddle carrier, comprises diesel powered system, cell power systems, actuator, vehicle control system, mechanical braking mechanism, brake pedal and wheel speed sensors.This actuator connects this diesel powered system and cell power systems, this actuator is driven by this diesel powered system and cell power systems respectively or simultaneously, and this actuator is converted to electric energy with the batteries charging to this cell power systems by braking energy in the time participating in braking.This brake pedal is in order to obtain speed-slackening signal.This wheel speed sensors is in order to obtain the vehicle wheel rotational speed of this container straddle carrier.This vehicle control system connects this diesel powered system, this cell power systems, this actuator, this mechanical braking mechanism, this brake pedal and this wheel speed sensors, this vehicle control system, according to the battery electric quantity of this speed-slackening signal, this vehicle wheel rotational speed and this cell power systems, determines the brake mode of taking.In the time that this battery electric quantity is greater than first threshold, this vehicle control system is only indicated this mechanical braking mechanism to brake and is not indicated this actuator to participate in braking.In the time that this battery electric quantity is less than or equal to this first threshold, this vehicle control system indicates this actuator to participate in braking simultaneously, and: in the time that the braking deceleration of being indicated by this speed-slackening signal is greater than electric braking maximum deceleration, indicate this actuator to use this electric braking maximum deceleration to brake, and indicate this mechanical braking mechanism to use the difference of this braking deceleration and this electric braking maximum deceleration to brake; In the time that this braking deceleration is less than or equal to this electric braking maximum deceleration, indicate this actuator to use this braking deceleration to brake.
In one embodiment of this invention, in the time that this battery electric quantity is less than or equal to this first threshold and is greater than Second Threshold, this vehicle control system also indicates this diesel powered system to stop to this batteries charging, in the time that this battery electric quantity is less than this Second Threshold, this vehicle control system also indicates this diesel powered system to continue to this batteries charging.
In one embodiment of this invention, during braking, this vehicle control system also judges whether this vehicle wheel rotational speed is less than parking threshold speed, if so, carries out parking, negates to proceed braking.
In one embodiment of this invention, brake system also comprises AC to DC rectifier, be connected to this diesel powered system, this cell power systems and this actuator, the alternating current that this AC to DC rectifier provides diesel powered system is converted to direct current (DC) and is transferred to this actuator.
In one embodiment of this invention, diesel powered system comprises diesel powerplant and the diesel engine manager that is connected this diesel powerplant, and wherein this diesel engine manager connects this vehicle control system.
In one embodiment of this invention, diesel powered system comprises battery pack and the battery manager that is connected this battery pack, and wherein this battery manager connects this vehicle control system.
In one embodiment of this invention, this wheel speed sensors is coder.
The present invention also proposes a kind of braking method of container straddle carrier, comprises the following steps: obtain speed-slackening signal by brake pedal; Obtain the vehicle wheel rotational speed of this container straddle carrier by wheel speed sensors; According to the battery electric quantity of the battery pack of this speed-slackening signal, this vehicle wheel rotational speed and cell power systems, determine the brake mode of taking, wherein: in the time that this battery electric quantity is greater than first threshold, only indicates mechanical braking mechanism to brake and do not indicate actuator to participate in braking; In the time that this battery electric quantity is less than or equal to this first threshold, indicate this actuator to participate in braking, and: in the time that the braking deceleration of being indicated by this speed-slackening signal is greater than electric braking maximum deceleration, indicate this actuator to use this electric braking maximum deceleration to brake, and indicate this mechanical braking mechanism to use the difference of this braking deceleration and this electric braking maximum deceleration to brake; In the time that this braking deceleration is less than this electric braking maximum deceleration, indicate this actuator to use this braking deceleration to brake, wherein actuator is converted to electric energy with the batteries charging to this cell power systems by braking energy in the time participating in braking.
In one embodiment of this invention, braking method also comprises in the time that this battery electric quantity is less than or equal to this first threshold and is greater than Second Threshold, instruction diesel powered system stops to this batteries charging, in the time that this battery electric quantity is less than this Second Threshold, indicate this diesel powered system to continue to this batteries charging.
In one embodiment of this invention, during braking, also comprising judge whether this vehicle wheel rotational speed is less than parking threshold speed, if so, carry out parking, negates to proceed braking.
The brake system of container straddle carrier of the present invention and method can be in the time that car load be braked, speed-slackening signal, and in conjunction with battery information, the proportionate relationship of the electric regenerative brake power of reasonable distribution and mechanical brake braking force under several different situations.This system and method thereof can be protected cell circuit, can give full play to again electric braking and can reclaim the energy and reduce the advantage of mechanical braking component abrasion, can also possess the advantage of mechanical braking mode stability and safety.
Brief description of the drawings
For above-mentioned purpose of the present invention, feature and advantage can be become apparent, below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated, wherein:
Fig. 1 illustrates the power system figure of the container straddle carrier of one embodiment of the invention.
Fig. 2 illustrates the system control flow chart of first embodiment of the invention.
Fig. 3 illustrates the system control flow chart of second embodiment of the invention.
Fig. 4 illustrates the system control flow chart of third embodiment of the invention.
Detailed description of the invention
Fig. 1 illustrates the power system figure of the container straddle carrier of one embodiment of the invention.Shown in figure 1, the power system 100 of the container straddle carrier of the present embodiment comprises vehicle control system 110, diesel powered system 120, cell power systems 130, actuator 140, mechanical braking mechanism 150, brake pedal 113 and wheel speed sensors 114.These parts participate in braking procedure as a part for brake system simultaneously.
Diesel powered system 120 and AC to DC (AC-DC) rectifier 130, a part for the electrical source of power of composition straddle carrier.Diesel powered system 120 can provide the power needing in the time that straddle carrier needs high-power output.Cell power systems 130 is also an electrical source of power part, in the time of the high-power output of straddle carrier, provides required power.In the situation that diesel powered system 120 is used DC generation, AC to DC (AC-DC) rectifier can omit.
Diesel powered system 120 can comprise diesel powerplant 121 and diesel engine manager 122.Diesel engine manager 122 is responsible for controlling the work of diesel powerplant 121.Cell power systems 130 can comprise battery pack 131 and battery manager 132.Battery pack 131 is chargeable.The information such as the battery electric quantity of battery pack 131 can be managed and transmit to battery manager 132.In the time that miniwatt is moved, diesel powered system 120 can the battery pack 131 for cell power systems 130 be charged under the control of vehicle control system 110.
Actuator 140 connects diesel powered system 120 and cell power systems 130, and the electric power that receives the two carrys out driving motor 151 and works.Electrical motor 151 and then driving drop-gear box 152 are to drive the vehicle wheel rotation of straddle carrier.HM Hydraulic Motor and the miscellaneous equipment etc. of straddle carrier is also to rely on diesel powered system 120 and cell power systems 130 that electric power is provided.Actuator 140 both can be used to drive each electrical motor 151 to rotate, and also can carry out electric braking.In this process, actuator 140 converts electric energy to braking energy, by busbar, these energy is charged in the battery pack 131 of cell power systems 130 and stores.
Mechanical braking mechanism 150 can carry out mechanical braking.Mechanical braking mechanism 150 comprises mechanical braking controller 161 and mechanical brake 162.Mechanical braking controller 161 can be controlled the work of mechanical brake 162.In one embodiment, mechanical brake 162 can use hydraulic braking element.
Whole power system is controlled by vehicle control system 110.Vehicle control system 110 can be connected to diesel engine manager 122, battery manager 132, actuator 150, mechanical braking controller 161 by bus, with exchange data information and control information.
Vehicle control system 110 can comprise distribution module 111 and controller 112.Distribution module 111 can gather outward sign, for example, from the speed-slackening signal p of brake pedal 113 with from the vehicle wheel rotational speed signal of wheel speed sensors 114.Controller 112 connects distribution module 111.Controller 112 can carry out necessary signal conversion, transmission and computing.For example, controller 112 can be converted to braking deceleration a_Set speed-slackening signal.
Brake pedal 113 can be accepted the braking maneuver of chaufeur, and produces speed-slackening signal.Wheel speed sensors 114 is used for detecting in real time the vehicle wheel rotational speed of straddle carrier and vehicle wheel rotational speed signal v is provided.In one embodiment, wheel speed sensors 114 can use wheel speed coder.
When receiving after speed-slackening signal, vehicle control system 110 can, according to the battery electric quantity S of speed-slackening signal, vehicle wheel rotational speed and cell power systems, determine the brake mode of taking.Particularly, in the time that battery electric quantity is greater than first threshold S1, vehicle control system 110 is only indicated mechanical braking mechanism 160 to brake and is not indicated actuator 160 to participate in braking.In the time that battery electric quantity is less than or equal to first threshold S1, vehicle control system 110 indicates actuator 150 to participate in braking.At this, carry out the ratio between distribution machinery braking and electric braking with reference to braking deceleration a_Set.Particularly, in the time that the braking deceleration a_Set being indicated by speed-slackening signal is greater than electric braking maximum deceleration a_eMax, actuator 150 uses electric braking maximum deceleration a_eMax to brake, and mechanical braking mechanism 160 is used the difference a_mSet=a_Set-a_eMax of braking deceleration and this electric braking maximum deceleration to brake; In the time that braking deceleration a_Set is less than or equal to electric braking maximum deceleration a_eMax, actuator 150 uses braking deceleration a_Set to brake.
The advantage of this way is, can protect battery pack 131, can give full play to again electric braking and can reclaim the energy and reduce the advantage of mechanical braking component abrasion, can also possess the advantage of mechanical braking mode stability and safety.
Vehicle control system 110, except instruction actuator 150 utilizes braking energy to charge, also can use diesel powered system 120 to charge for battery pack 131 any in suitable.Specifically, in the time that battery electric quantity s is less than or equal to first threshold S1 and is greater than Second Threshold S2, vehicle control system 110 indicates diesel powered system 120 to stop charging to battery pack 131, in the time that battery electric quantity s is less than Second Threshold S2, vehicle control system 110 indicates diesel powered system 120 to continue to charge to battery pack 131.This process even can be carried out in braking procedure.
Other details of braking control flow will further describe in the embodiment below.
Fig. 2 illustrates the system control flow chart of first embodiment of the invention.Shown in figure 2, flow process is as follows:
In step 201, read battery electric quantity s, vehicle wheel rotational speed v and braking deceleration a_Set.At this, battery electric quantity is to obtain by vehicle control system 110 and battery manager 132 exchange messages, and braking deceleration a_Set calculates acquisition by speed-slackening signal, and vehicle wheel rotational speed v obtains by wheel speed sensors 114.
Start according to speed-slackening signal (being converted to braking deceleration a_Set), vehicle wheel rotational speed v and battery electric quantity s from step 202, determine the brake mode of taking.
In step 202, judge whether battery electric quantity s is greater than electric weight maximum upper limit (first threshold) S1.If result is yes,, in the time that battery electric quantity s is greater than first threshold S1, show that battery pack 131 does not need charging.In step 203, vehicle control system 110 is only indicated mechanical braking mechanism 160 to brake and is not indicated actuator 140 to participate in braking.Now braking is pure mechanical braking.If result is no,, in the time that battery electric quantity s is less than or equal to first threshold S1, show that battery pack 131 needs charging.In step 204, vehicle control system 110 indicates actuator 140 to participate in braking.
Flow process enters step 205, judges whether braking deceleration a_Set is greater than electric braking maximum deceleration a_eMax.A_eMax can provide maximum braking deceleration for electric braking.If result is yes, in the time of a_Set>a_eMax, indicate actuator 140 to use electric braking maximum deceleration a_eMax to brake at step 206 vehicle control system 110, and instruction mechanical braking mechanism 160 is used the difference a_mSet=a_Set-a_eMax of braking deceleration and electric braking maximum deceleration to brake.If result is no,, in the time of a_Set≤a_eMax, indicate actuator 140 directly to use braking deceleration a_Set to brake at step 207 vehicle control system 110.
As previously mentioned, actuator 140 can be converted to electric energy by braking energy in the time participating in braking, and the battery pack 131 of cell power systems is charged.Thus, braking energy will be utilized as much as possible.And, having benefited from the restriction of electric braking maximum deceleration, battery pack and charge circuit thereof will be protected.
Determine the opportunity of parking in step 208 and 209, if vehicle wheel rotational speed is greater than parking speed restriction Vmin, flow process is got back to respectively step 205 and 203 and is proceeded braking.Otherwise, carry out parking in step 210.
Fig. 3 illustrates the system control flow chart of second embodiment of the invention.Shown in figure 3, flow process is as follows:
In step 301, read battery electric quantity s, vehicle wheel rotational speed v and braking deceleration a_Set.At this, battery electric quantity is to obtain by vehicle control system 110 and battery manager 132 exchange messages, and braking deceleration a_Set calculates acquisition by speed-slackening signal, and vehicle wheel rotational speed v obtains by wheel speed sensors 114.
Start according to speed-slackening signal (being converted to braking deceleration a_Set), vehicle wheel rotational speed v and battery electric quantity s from step 302, determine the brake mode of taking.
In step 302, judge whether battery electric quantity s is greater than electric weight maximum upper limit (first threshold) S1.If result is yes,, in the time that battery electric quantity s is greater than first threshold S1, show that battery pack 131 does not need charging.In step 303, vehicle control system 110 is only indicated mechanical braking mechanism 160 to brake and is not indicated actuator 140 to participate in braking.Now braking is pure mechanical braking.If result is no,, in the time that battery electric quantity s is less than or equal to first threshold S1, show that battery pack 131 needs charging.In step 304, vehicle control system 110 indicates actuator 140 to participate in braking.
Flow process enters step 305, judges whether braking deceleration a_Set is greater than electric braking maximum deceleration a_eMax.A_eMax can provide maximum braking deceleration for electric braking.If result is yes, in the time of a_Set>a_eMax, indicate actuator 140 to use electric braking maximum deceleration a_eMax to brake at step 306 vehicle control system 110, and instruction mechanical braking mechanism 160 is used the difference a_mSet=a_Set-a_eMax of braking deceleration and electric braking maximum deceleration to brake.If result is no,, in the time of a_Set≤a_eMax, indicate actuator 140 directly to use braking deceleration a_Set to brake at step 307 vehicle control system 110.
As previously mentioned, actuator 140 can be converted to electric energy by braking energy in the time participating in braking, and the battery pack 131 of cell power systems is charged.Thus, braking energy will be utilized as much as possible.And, having benefited from the restriction of electric braking maximum deceleration, battery pack and charge circuit thereof will be protected.
Branch's step 311 of carrying out side by side with step 304 can judge whether s is greater than the electric weight time large upper limit (Second Threshold) S2.In the time that battery electric quantity s is less than or equal to first threshold S1 and is greater than Second Threshold S2, in step 312, vehicle control system 110 indicates diesel powered system 120 to stop charging to battery pack 131.In the time that battery electric quantity s is less than Second Threshold S2, in step 313, vehicle control system 110 indicates diesel powered system 120 to continue to charge to battery pack 131.
Determine the opportunity of parking in step 308 and 309, if vehicle wheel rotational speed is greater than parking speed restriction Vmin, flow process is got back to respectively step 305 and 303 and is proceeded braking.Otherwise, carry out parking in step 310.
Straddle carrier also provides emergency braking function conventionally, i.e. vehicle major failure or driver's stretcher is given triggers emergency brake command while being greater than setting value.Consider the emergency braking function of straddle carrier, propose another embodiment of system control flow.
Fig. 4 illustrates the system control flow chart of third embodiment of the invention.Shown in figure 4, flow process is as follows:
In step 401, read battery electric quantity s, vehicle wheel rotational speed v and braking deceleration a_Set.At this, battery electric quantity is to obtain by vehicle control system 110 and battery manager 132 exchange messages, and braking deceleration a_Set calculates acquisition by speed-slackening signal, and vehicle wheel rotational speed v obtains by wheel speed sensors 114.
In step 411, vehicle control system 110 judges whether emergency brake command triggers, and if so, directly enters step 412, and electric braking deceleration/decel a_eSet and mechanical braking deceleration/decel a_mSet get maxim, and flow process directly enters step 410; If not, flow process enters conventional step 402.
Start according to speed-slackening signal (being converted to braking deceleration a_Set), vehicle wheel rotational speed v and battery electric quantity s from step 402, determine the brake mode of taking.
In step 402, judge whether battery electric quantity s is greater than electric weight maximum upper limit (first threshold) S1.If result is yes,, in the time that battery electric quantity s is greater than first threshold S1, show that battery pack 131 does not need charging.In step 403, vehicle control system 110 is only indicated mechanical braking mechanism 160 to brake and is not indicated actuator 140 to participate in braking.Now braking is pure mechanical braking.If result is no,, in the time that battery electric quantity s is less than or equal to first threshold S1, show that battery pack 131 needs charging.In step 404, vehicle control system 110 indicates actuator 140 to participate in braking.
Flow process enters step 405, judges whether braking deceleration a_Set is greater than electric braking maximum deceleration a_eMax.A_eMax can provide maximum braking deceleration for electric braking.If result is yes, in the time of a_Set>a_eMax, indicate actuator 140 to use electric braking maximum deceleration a_eMax to brake at step 406 vehicle control system 110, and instruction mechanical braking mechanism 160 is used the difference a_mSet=a_Set-a_eMax of braking deceleration and electric braking maximum deceleration to brake.If result is no,, in the time of a_Set≤a_eMax, indicate actuator 140 directly to use braking deceleration a_Set to brake at step 407 vehicle control system 110.
As previously mentioned, actuator 140 can be converted to electric energy by braking energy in the time participating in braking, and the battery pack 131 of cell power systems is charged.Thus, braking energy will be utilized as much as possible.And, having benefited from the restriction of electric braking maximum deceleration, battery pack and charge circuit thereof will be protected.
Determine the opportunity of parking in step 408 and 409, if vehicle wheel rotational speed is greater than parking speed restriction Vmin, flow process is got back to respectively step 405 and 403 and is proceeded braking.Otherwise, carry out parking in step 410.
The brake system of the container straddle carrier of the above embodiment of the present invention and method can be in the time that car load be braked, speed-slackening signal, and in conjunction with battery information, the proportionate relationship of the electric regenerative brake power of reasonable distribution and mechanical brake braking force under several different situations.This system and method thereof can be protected cell circuit, can give full play to again electric braking and can reclaim the energy and reduce the advantage of mechanical braking component abrasion, can also possess the advantage of mechanical braking mode stability and safety.
Although the present invention describes with reference to current specific embodiment, but those of ordinary skill in the art will be appreciated that, above embodiment is only for the present invention is described, in the situation that not departing from spirit of the present invention, also can make variation or the replacement of various equivalences, therefore, as long as the variation to above-described embodiment, modification all will drop in the application's the scope of claims within the scope of connotation of the present invention.
Claims (10)
1. a brake system for container straddle carrier, comprises diesel powered system, cell power systems, actuator, vehicle control system, mechanical braking mechanism, brake pedal and wheel speed sensors, wherein:
This actuator connects this diesel powered system and cell power systems, this actuator is driven by this diesel powered system and cell power systems respectively or simultaneously, and this actuator is converted to electric energy with the batteries charging to this cell power systems by braking energy in the time participating in braking;
This brake pedal is in order to obtain speed-slackening signal;
This wheel speed sensors is in order to obtain the vehicle wheel rotational speed of this container straddle carrier;
This vehicle control system connects this diesel powered system, this cell power systems, this actuator, this mechanical braking mechanism, this brake pedal and this wheel speed sensors, this vehicle control system is according to the battery electric quantity of this speed-slackening signal, this vehicle wheel rotational speed and this cell power systems, determine the brake mode of taking, wherein:
In the time that this battery electric quantity is greater than first threshold, this vehicle control system is only indicated this mechanical braking mechanism to brake and is not indicated this actuator to participate in braking;
In the time that this battery electric quantity is less than or equal to this first threshold, this vehicle control system indicates this actuator to participate in braking simultaneously, and: in the time that the braking deceleration of being indicated by this speed-slackening signal is greater than electric braking maximum deceleration, indicate this actuator to use this electric braking maximum deceleration to brake, and indicate this mechanical braking mechanism to use the difference of this braking deceleration and this electric braking maximum deceleration to brake; In the time that this braking deceleration is less than or equal to this electric braking maximum deceleration, indicate this actuator to use this braking deceleration to brake.
2. the brake system of container straddle carrier as claimed in claim 1, it is characterized in that, in the time that this battery electric quantity is less than or equal to this first threshold and is greater than Second Threshold, this vehicle control system also indicates this diesel powered system to stop to this batteries charging, in the time that this battery electric quantity is less than this Second Threshold, this vehicle control system also indicates this diesel powered system to continue to this batteries charging.
3. the brake system of container straddle carrier as claimed in claim 1, is characterized in that, during braking, this vehicle control system also judges whether this vehicle wheel rotational speed is less than parking threshold speed, if so, carries out parking, negates to proceed braking.
4. the brake system of container straddle carrier as claimed in claim 1, it is characterized in that, also comprise AC to DC rectifier, be connected to this diesel powered system, this cell power systems and this actuator, the alternating current that this AC to DC rectifier provides diesel powered system is converted to direct current (DC) and is transferred to this actuator.
5. the brake system of container straddle carrier as claimed in claim 1, is characterized in that, diesel powered system comprises diesel powerplant and the diesel engine manager that is connected this diesel powerplant, and wherein this diesel engine manager connects this vehicle control system.
6. the brake system of container straddle carrier as claimed in claim 1, is characterized in that, diesel powered system comprises battery pack and the battery manager that is connected this battery pack, and wherein this battery manager connects this vehicle control system.
7. the brake system of container straddle carrier as claimed in claim 1, is characterized in that, this wheel speed sensors is coder.
8. a braking method for container straddle carrier, comprises the following steps:
Obtain speed-slackening signal by brake pedal;
Obtain the vehicle wheel rotational speed of this container straddle carrier by wheel speed sensors;
According to the battery electric quantity of the battery pack of this speed-slackening signal, this vehicle wheel rotational speed and cell power systems, the brake mode that decision is taked, wherein:
In the time that this battery electric quantity is greater than first threshold, only indicates mechanical braking mechanism to brake and do not indicate actuator to participate in braking;
In the time that this battery electric quantity is less than or equal to this first threshold, indicate this actuator to participate in braking, and: in the time that the braking deceleration of being indicated by this speed-slackening signal is greater than electric braking maximum deceleration, indicate this actuator to use this electric braking maximum deceleration to brake, and indicate this mechanical braking mechanism to use the difference of this braking deceleration and this electric braking maximum deceleration to brake; In the time that this braking deceleration is less than this electric braking maximum deceleration, indicate this actuator to use this braking deceleration to brake,
Wherein actuator is converted to electric energy with the batteries charging to this cell power systems by braking energy in the time participating in braking.
9. the braking method of container straddle carrier as claimed in claim 8, it is characterized in that, also comprise in the time that this battery electric quantity is less than or equal to this first threshold and is greater than Second Threshold, instruction diesel powered system stops to this batteries charging, in the time that this battery electric quantity is less than this Second Threshold, indicate this diesel powered system to continue to this batteries charging.
10. the braking method of container straddle carrier as claimed in claim 8, is characterized in that, during braking, also comprises, judges whether this vehicle wheel rotational speed is less than parking threshold speed, if so, carries out parking, negates to proceed braking.
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| CN201410264338.8A CN104002686A (en) | 2014-06-13 | 2014-06-13 | Braking system and method for container straddle carrier |
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| CN201410264338.8A CN104002686A (en) | 2014-06-13 | 2014-06-13 | Braking system and method for container straddle carrier |
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| CN105196881A (en) * | 2015-10-15 | 2015-12-30 | 上海振华重工(集团)股份有限公司 | Electric energy switching system and electric energy switching method of container straddle carrier |
| CN110386117A (en) * | 2019-07-22 | 2019-10-29 | 上海振华重工(集团)股份有限公司 | A kind of the multi-level fusion braking control system and method for straddle carrier |
| CN114683859A (en) * | 2020-12-28 | 2022-07-01 | 华为技术有限公司 | Vehicle brake control method and device and vehicle brake system |
| WO2022142953A1 (en) * | 2020-12-28 | 2022-07-07 | 华为技术有限公司 | Vehicle braking control method and device, and vehicle braking system |
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Application publication date: 20140827 |