CN105041491B - A kind of revolution speed control system of container stacking machine - Google Patents
A kind of revolution speed control system of container stacking machine Download PDFInfo
- Publication number
- CN105041491B CN105041491B CN201510318880.1A CN201510318880A CN105041491B CN 105041491 B CN105041491 B CN 105041491B CN 201510318880 A CN201510318880 A CN 201510318880A CN 105041491 B CN105041491 B CN 105041491B
- Authority
- CN
- China
- Prior art keywords
- rotating speed
- request channel
- tachometer value
- channel
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000003921 oil Substances 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 10
- 239000010720 hydraulic oil Substances 0.000 claims description 9
- 230000007257 malfunction Effects 0.000 claims description 5
- 239000012530 fluid Substances 0.000 claims description 4
- 230000007935 neutral effect Effects 0.000 claims description 4
- 239000002828 fuel tank Substances 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 1
- 230000005484 gravity Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention provides a kind of revolution speed control system of container stacking machine, including a rotating speed request channel and rotating speed limiting channel；If the tachometer value that rotating speed request channel is required is less than or equal to the tachometer value that rotating speed limiting channel is limited, the tachometer value that rotating speed request channel is required is final rotating speed control output valve；Tachometer value maximum of rotating speed required by lifting pilot pressure rotating speed request channel, suspender working speed request channel and gas pedal rotating speed request channel that the rotating speed request channel is required is determined；The tachometer value of the rotating speed limiting channel limitation with the presence or absence of the F-Zero that failure is limited when front door frame lift height, current stacker after PID/feedback passage by obtaining.The invention provides a kind of revolution speed control system of container stacking machine, the various different conditions that can be currently at according to stacker change the rotating speed of stacker engine, safety is flexibly.
Description
Technical field
The present invention relates to a kind of revolution speed control system of container stacking machine.
Background technology
Container stacking machine is a kind of engineering truck for container handling, pile and transport operation, equipment availability end
Mouth is more, and the power of engine output has both been used for equipment and has travelled driving, is also used for operation hydraulic system, the job-oriented terminal of hydraulic system
It is the oil cylinder of various uses, there is door frame lifting and inclination, the sidesway of steeraxle driving and suspender, flexible, rotation lock, rotate etc.,
Each job-oriented terminal is different to hydraulic pressure, i.e., require different to engine speed.In addition, empty container piling crane belongs to high-risk
The special equipment of dangerous operation, has particular/special requirement to safety, because machine gravity is higher, when door frame, which is lifted, arrives certain altitude, just needs limit
Speed processed is to 3Km/h, and F-Zero may not exceed 28Km/h, in addition, because high oil temperature will also adapt to limit engine speed.
Visible above, to adapt to various operations and security needs, equipment requirement operator is flexibly controlled engine speed, if
There is no a kind of automatic control system that can integrate and can carry out handling calculating after each channel information, and only with Mechanical course side
Formula controls engine speed, otherwise cannot it realize, otherwise implementing needs huge circuit system.
The content of the invention
Technical problem underlying to be solved by this invention is to provide a kind of revolution speed control system of container stacking machine, can
The various different conditions being currently at according to stacker, change the rotating speed of stacker engine, safety is flexibly.
In order to solve above-mentioned technical problem, the invention provides a kind of revolution speed control system of container stacking machine, bag
Include a rotating speed request channel and rotating speed limiting channel；If the tachometer value that rotating speed request channel is required is less than or equal to rotating speed, limitation is logical
The tachometer value of road limitation, the then tachometer value that rotating speed request channel is required is final rotating speed control output valve；
The tachometer value that the rotating speed request channel is required please by lifting pilot pressure rotating speed request channel, suspender working speed
The maximum of rotating speed required by passage and gas pedal rotating speed request channel is asked to determine；
The tachometer value of the rotating speed limiting channel limitation when front door frame lift height, current stacker by whether there is failure
The F-Zero limited is obtained after PID/feedback passage.
In a preferred embodiment：The lifting pilot pressure rotating speed request channel passes through pressure sensor detection lifting oil
The pilot pressure of case, the pilot pressure changes in 0-27bar, and the tachometer value that correspondence is required is the 0%- of maximum (top) speed value
100%.
In a preferred embodiment：The lifting pilot pressure rotating speed request channel also includes the first occluding device, described
Whether the automatic speed-raising of the first occluding device detection lifting is forbidden, driver whether not in seat, gearbox whether not in neutral gear, if its
One of be yes, then the lifting pilot pressure rotating speed request channel does not require to change rotating speed.
In a preferred embodiment：The hydraulic pressure of main valve is detected by pressure sensor in the suspender working speed request channel
Whether the pressure of oil reaches more than 20bar, if so, then requiring 20% that increased tachometer value is maximum (top) speed value.
In a preferred embodiment：The suspender working speed request channel also includes the second occluding device, described second
Occluding device detection gear whether drive shift or reverse drive gear, driver whether not on seat, lift-off pressures whether malfunction, if
One of them is yes, then the suspender working speed request channel does not require to change rotating speed.
In a preferred embodiment：The gas pedal rotating speed request channel hydraulic fluid temperature is detected by temperature sensor
Whether whether 120 DEG C are more than more than 95 DEG C, gear box oil temperature；If both at no, the gas pedal rotating speed request is logical
The tachometer value of road requirement is the 0-100% of maximum (top) speed value；If the two one is yes, the gas pedal rotating speed request channel
It is required that tachometer value be maximum (top) speed value 0-40%.
In a preferred embodiment：The rotating speed limiting channel detection door frame rate limitation, accelerator and brake are with the presence or absence of event
Barrier；If one of them is yes, the stacker F-Zero limited is 3Km/h；If being no, during the stacker highest limited
Speed is 28Km/h.
Compared to prior art, technical scheme possesses following beneficial effect：
The invention provides a kind of revolution speed control system of container stacking machine, equipment is realized automatic to max. speed
Hydraulic pressure requirement when limiting, meeting equipment work and other hinder limitation requirement to rotating speed for some reason, system passes through speed
Sensor, pressure sensor, temperature sensor and the signal that limit switch etc. passes to system is stirred, obtain stacker speed, oil
The information such as liquid temperature degree, hydraulic pressure and failure, are processed to information and draw engine speed demand to control hair
The rotating speed of motivation, system operatio is flexible safely.
Brief description of the drawings
Fig. 1 is the flow chart of revolution speed control system in the preferred embodiment of the present invention.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be further described.
With reference to Fig. 1, the invention provides a kind of revolution speed control system of container stacking machine, wherein stacker engine turns
Speed is controlled in 2200rpm by idling 700rpm, maximum speed by engine TCU itself, the final rotating speed control of revolution speed control system
Export the R (%) of maximum speed, therefore then actual speed=700+ (2200-700) of engine × R (%).
Above-mentioned revolution speed control system includes a rotating speed request channel and rotating speed limiting channel；What if rotating speed request channel was required
Tachometer value is less than or equal to the tachometer value that rotating speed limiting channel is limited, then the tachometer value that rotating speed request channel is required is final
Rotating speed controls output valve；
The tachometer value that the rotating speed request channel is required please by lifting pilot pressure rotating speed request channel, suspender working speed
The maximum of rotating speed required by passage and gas pedal rotating speed request channel is asked to determine；
The tachometer value of the rotating speed limiting channel limitation when front door frame lift height, current stacker by whether there is failure
The F-Zero limited is obtained after PID/feedback passage.
Hereafter the handling process to each passage illustrates one by one：
It is the rotating speed that engine is controlled by the offset of handle to lift pilot pressure rotating speed request channel, sends rotating speed
Request, then by topping up speed of the control of engine speed hydraulic oil to elevating ram, so as to control door frame to lift speed.It is described
Lift pilot pressure rotating speed request channel and the pilot pressure for lifting fuel tank is detected by pressure sensor, the pilot pressure is in 0-
Change in 27bar, the tachometer value that correspondence is required is the 0%-100% of maximum (top) speed value.If now rotating speed limiting channel is unrestricted,
Then rotating speed output area be 700+ (2200-700) × R (%), wherein R (%) be 0%-100%, therefore output rotating speed model
Enclose for 700-2200rpm.
The lifting pilot pressure rotating speed request channel also includes the first occluding device, and the first occluding device detection is lifted
Rise automatic speed-raising whether forbid, driver whether not in seat, gearbox whether not in neutral gear, if one of be it is yes, it is described
Lifting pilot pressure rotating speed request channel does not require to change rotating speed.So ensure that when exist the automatic speed-raising of lifting be prohibited,
Driver is not in seat, not one or more in neutral gear of gearbox, and the rotating speed of stacker will not increase, it is ensured that stacker is made
The security of industry.
The hydraulic oil of suspender and each oil cylinder of door frame is supplied by main valve, when suspender and each oil cylinder of door frame do not work
When, the hydraulic oil that gear pump is output to main valve returns to hydraulic oil container by oil return pipe, and now the hydraulic fluid pressure of main valve is approached
0bar, when suspender is started working, the loop that hydraulic oil returns to fuel tank is closed, and hydraulic oil flows to the oil cylinder of suspender work, now exists
Performance loop and main valve pressure can be made to reach more than 20bar under engine idle conditions, the pressure is can not to meet suspender oil
Cylinder working, but may determine that whether suspender has oil cylinder in work.Therefore, the suspender working speed request channel passes through pressure
Whether the pressure of the hydraulic oil of force snesor detection main valve reaches more than 20bar, if so, then requiring that increased tachometer value is maximum
The 20% of tachometer value.
The suspender working speed request channel also includes the second occluding device, and the second occluding device detection gear is
It is no drive shift or reverse drive gear, driver whether not on seat, lift-off pressures whether malfunction, if one of them is yes, institute
Suspender working speed request channel is stated not require to change rotating speed.So ensure that to work as there is gear in drive shift or retrogressing
When one or more during shelves, driver be not on seat, lift-off pressures malfunction, the rotating speed of stacker will not increase, it is ensured that heap is high
The security of machine operation.
Detect whether hydraulic fluid temperature is more than 95 DEG C, speed change by temperature sensor in the gas pedal rotating speed request channel
Whether case oil temperature is more than 120 DEG C；If both at no, the tachometer value that the gas pedal rotating speed request channel is required is most
The 0-100% of big tachometer value；If the two one is yes, the tachometer value that the gas pedal rotating speed request channel is required is maximum
The 0-40% of tachometer value.So that engine is in hydraulic oil temperature or parameter case high oil temperature, rotating speed is not increased to too high
State.
Rotating speed limiting channel is main by door frame rate limitation, failure (throttle and brake pedal malfunction) and vehicle F-Zero
(28Km/h) is determined, when the lifting of stacker door frame is higher, because vehicle's center of gravity is uprised, for safety, now needs limitation most
Big car speed (3Km/h), the reason for because of throttle and brake pedal failure, also limits car speed no more than 3Km/h.Cause
This, the rotating speed limiting channel detection door frame rate limitation, accelerator and brake whether there is failure；If one of them is yes, limit
The stacker F-Zero of system is 3Km/h；If being no, the stacker F-Zero limited is 28Km/h.It is several because more than
Parameter is velocity amplitude, is mismatched with rotating speed percentage, so employing PID/feedback passage, finally obtains rotating speed limits value
Percent value.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
It should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (7)
1. a kind of revolution speed control system of container stacking machine, it is characterised in that：Limited including a rotating speed request channel and rotating speed
Passage；If the tachometer value that rotating speed request channel is required is less than or equal to the tachometer value that rotating speed limiting channel is limited, rotating speed request
The tachometer value of channel requirements is final rotating speed control output valve；
The tachometer value that the rotating speed request channel is required asks logical by lifting pilot pressure rotating speed request channel, suspender working speed
The maximum of rotating speed required by road and gas pedal rotating speed request channel is determined；
The tachometer value of the rotating speed limiting channel limitation when front door frame lift height, current stacker with the presence or absence of failure by being limited
The F-Zero of system is obtained after PID/feedback passage.
2. a kind of revolution speed control system of container stacking machine according to claim 1, it is characterised in that：The lifting is first
Pilot power rotating speed request channel detects the pilot pressure for lifting fuel tank by pressure sensor, and the pilot pressure is in 0-27bar
Interior change, the tachometer value that correspondence is required is the 0%-100% of maximum (top) speed value.
3. a kind of revolution speed control system of container stacking machine according to claim 2, it is characterised in that：The lifting is first
Pilot power rotating speed request channel also includes the first occluding device, and whether the automatic speed-raising of the first occluding device detection lifting is prohibited
Only, driver whether not in seat, gearbox whether not in neutral gear, if one of them be it is yes, it is described lift pilot pressure rotating speed
Request channel does not require to change rotating speed.
4. a kind of revolution speed control system of container stacking machine according to claim 1, it is characterised in that：The suspender work
Make rotating speed request channel and detect whether the pressure of the hydraulic oil of main valve reaches more than 20bar by pressure sensor, if so, then
It is the 20% of maximum (top) speed value to seek increased tachometer value.
5. a kind of revolution speed control system of container stacking machine according to claim 4, it is characterised in that：The suspender work
Making rotating speed request channel also includes the second occluding device, and the second occluding device detection gear is still being retreated in drive shift
Shelves, driver whether not on seat, lift-off pressures whether malfunction, if one of them be yes, the suspender working speed is asked
Passage does not require to change rotating speed.
6. a kind of revolution speed control system of container stacking machine according to claim 1, it is characterised in that：The throttle is stepped on
Detect whether whether hydraulic fluid temperature be more than more than 95 DEG C, gear box oil temperature by temperature sensor in plate rotating speed request channel
120℃；If both at no, the tachometer value that the gas pedal rotating speed request channel is required is the 0- of maximum (top) speed value
100%；If the two one is yes, the tachometer value that the gas pedal rotating speed request channel is required is the 0- of maximum (top) speed value
40%.
7. a kind of revolution speed control system of container stacking machine according to claim 1, it is characterised in that：The rotating speed limit
Air conduct measurement door frame rate limitation processed, accelerator and brake whether there is failure；If one of them is stacker highest that is yes, limiting
Speed per hour is 3Km/h；If being no, the stacker F-Zero limited is 28Km/h.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510318880.1A CN105041491B (en) | 2015-06-11 | 2015-06-11 | A kind of revolution speed control system of container stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510318880.1A CN105041491B (en) | 2015-06-11 | 2015-06-11 | A kind of revolution speed control system of container stacking machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105041491A CN105041491A (en) | 2015-11-11 |
| CN105041491B true CN105041491B (en) | 2017-08-25 |
Family
ID=54448390
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510318880.1A Active CN105041491B (en) | 2015-06-11 | 2015-06-11 | A kind of revolution speed control system of container stacking machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105041491B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3638575A (en) * | 1969-07-03 | 1972-02-01 | Palmer Shile Co | Analog control system |
| CN101835968B (en) * | 2007-10-24 | 2013-07-24 | 日立建机株式会社 | Engine control device for working vehicle |
| CN102259809A (en) * | 2010-05-31 | 2011-11-30 | 比亚迪股份有限公司 | Control system and control method of forklift door frame |
| CN102392747B (en) * | 2011-06-28 | 2016-09-07 | 三一汽车制造有限公司 | Control method for engine speed, control system and arm support type engineering machinery |
| CN103030064B (en) * | 2012-12-20 | 2015-05-13 | 中联重科股份有限公司 | Control system and control method of engineering mechanical equipment |
-
2015
- 2015-06-11 CN CN201510318880.1A patent/CN105041491B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105041491A (en) | 2015-11-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7628240B2 (en) | Fluid transmission with improved traction control | |
| CN103032185B (en) | Control method and control device of automobile crane and automobile crane | |
| CN101558243A (en) | Engine load control device of work vehicle | |
| CN203269495U (en) | Forward-movingtype fork-lift auxiliary-control system | |
| US9810164B2 (en) | Prime mover control device for work vehicle | |
| CN109367390B (en) | Safety control system and method for power takeoff of dump truck | |
| CN102853067B (en) | The controlling method that AMT transmission input shaft speed probe lost efficacy and device | |
| CN103697001A (en) | Engineering machinery and hydraulic driving system thereof | |
| CN105041491B (en) | A kind of revolution speed control system of container stacking machine | |
| CN201401385Y (en) | Speed-limiting valve | |
| CN212220016U (en) | Limiting device for hydraulic pilot control lifting system and mining dump truck | |
| CN208054774U (en) | A kind of emergency system and crane for crane | |
| CN108357483A (en) | A kind of loading machine intelligent power cutting system and control method | |
| CN106762167A (en) | A kind of intelligence supply control system of LNG cars | |
| CN208053327U (en) | A kind of intelligent power distribution system | |
| US20090107133A1 (en) | Procedure to align working equipment mounted to a liftable and lowerable hositing frame of a working machine | |
| CN208057563U (en) | A kind of gearbox dynamic output control system | |
| CN110304136A (en) | A kind of the independent electrohydraulic steering system and method for straddle carrier wheel | |
| CN204674433U (en) | The hoisting system of dumping car | |
| CN202325831U (en) | Interlock circuit for controlling electronic speed regulator and power takeoff | |
| CN205998951U (en) | A kind of speed limiting safety system of high position stacking door frame | |
| CN108302079A (en) | A kind of gearbox dynamic output control system and control method | |
| CN104454196A (en) | Vehicle speed control apparatus of industrial vehicle | |
| CN208053326U (en) | A kind of loading machine intelligent power cutting system | |
| CN202294450U (en) | Hydraulic system for urgently resetting and discharging slag ladle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A Speed Control System for Container Stacker Granted publication date: 20170825 Pledgee: Industrial and Commercial Bank of China Limited Longhai Branch Pledgor: FUJIAN WEILONG MACHINERY MANUFACTURING Co.,Ltd. Registration number: Y2024350000035 |