CN110386117A - A kind of the multi-level fusion braking control system and method for straddle carrier - Google Patents
A kind of the multi-level fusion braking control system and method for straddle carrier Download PDFInfo
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- CN110386117A CN110386117A CN201910659813.4A CN201910659813A CN110386117A CN 110386117 A CN110386117 A CN 110386117A CN 201910659813 A CN201910659813 A CN 201910659813A CN 110386117 A CN110386117 A CN 110386117A
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- braking
- brake
- straddle carrier
- hydraulic
- control module
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/24—Electrodynamic brake systems for vehicles in general with additional mechanical or electromagnetic braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/02—Brake-action initiating means for personal initiation
- B60T7/04—Brake-action initiating means for personal initiation foot actuated
- B60T7/042—Brake-action initiating means for personal initiation foot actuated by electrical means, e.g. using travel or force sensors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
The invention discloses the multi-level fusion braking control system and method for a kind of straddle carrier, which includes straddle carrier, and straddle carrier has electric braking and two sets of hydraulic braking mutual independent braking systems；Pedal sensor transmits the pedal displacement signal of straddle carrier；Control module draws the curve of straddle carrier travel speed, the depth of brake pedal and actual loading weight respectively, and according to the smallest brake value in curve constituency, and is determined to use electric braking or hydraulic braking according to brake value.The present invention combines electric braking and hydraulic braking, demand according to straddle carrier to brake force, it carries out electric braking respectively and hydraulic braking individually controls, meet straddle carrier and fast requirement is responded to braking ability while big braking moment can be provided, guarantee the braking ability of straddle carrier.
Description
Technical field
The present invention relates to a kind of braking control system and methods, more specifically to a kind of multi-level fusion of straddle carrier
Braking control system and method.
Background technique
Straddle carrier is main force's type in container handling device, is usually undertaken by the water of wharf apron to stockyard
Flat transport and the container stack work in stockyard.Due to straddle carrier have maneuverability, high-efficient, stability is good,
The features such as wheel load is low obtains universal application.Straddle carrier operation to improve wharf apron equipment the efficiency of loading and unloading very
Favorably.Straddle carrier from the 1960s come out since, after decades of development, with container in tire type door
Formula crane is the same, becomes the key equipment in container terminal and stockyard.
For straddle carrier since vehicle height can reach 16m, complete vehicle quality is larger, especially when straddle carrier transport container,
Complete vehicle quality maximum can reach 100t or so, therefore straddle carrier is more demanding to braking ability (according to requiring, is fully loaded with i.e. 60+50T
When=110T, speed is in 24km/h, braking distance 16m；When unloaded 60T, speed is in 24km/h, braking distance 10m).
For the braking system of straddle carrier, electric braking has braking response speed fast, and braking ability is high, and braking
The advantages that system structure simplifies is suitable for unmanned straddle carrier, however straddle carrier is since quality is big, when braking required brake force
Square is very big, electric braking cannot provide sufficiently large braking moment (in the case where electric braking, stopping is decelerated to according to acceleration distance,
Stopping distance is much larger than zero load 10m, the technical parameter index of heavily loaded 16m).Hydraulic braking is due to brake pressure height, the system of generation
The big feature of kinetic moment is often applied to heavy-duty machinery, but compared to electric braking, braking response speed is slower, is not able to satisfy across fortune
Requirement of the vehicle to braking response speed.
Summary of the invention
Respective advantage and disadvantage, the purpose of the present invention on straddle carrier are applied for electric braking in the prior art and hydraulic braking
It is to provide the multi-level fusion braking control system and method for a kind of straddle carrier.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of multi-level fusion braking control system of straddle carrier, comprising: straddle carrier, straddle carrier have electric braking and hydraulic system
Move two sets of mutual independent braking systems；Pedal sensor transmits the pedal displacement signal of straddle carrier；Control module, respectively
The curve of straddle carrier travel speed, the depth of brake pedal and actual loading weight is drawn, and the smallest according to curve constituency
Brake value, and determined to use electric braking or hydraulic braking according to brake value.
Further, brake fluid system includes hydraulic pump, proportional pressure-reducing valve, hydraulic cylinder and brake disc.Hydraulic pump connection
Proportional pressure-reducing valve, proportional pressure-reducing valve connection liquid cylinder pressure, hydraulic cylinder cooperation brake disc are braked.
Further, electric braking includes synchronous motor, frequency converter, and control module, which controls frequency converter, reduces Current Voltage frequency
Rate, to reduce the rotation speed of synchronous motor synchronous field.
Further, pedal displacement signal is set as, hydraulic 70% hereinafter, control module takes the mode of electric braking
Braking is not involved in participation；70% or more, what control module was taken is hydraulic braking mode, and electric braking is not involved in participation.
Further, control module obtains the variable of braking moment as input, output by the current scan period
For optimal brake effect curve.
To achieve the above object, the present invention also adopts the following technical scheme that
A kind of multi-level fusion brake control method of straddle carrier, comprising: two sets of mutually independent electricity are set in straddle carrier
Braking system and brake fluid system；Acquire the pedal displacement signal of straddle carrier；Draw straddle carrier row respectively using control module
The curve of speed, the depth of brake pedal and actual loading weight is sailed, and according to the smallest brake value in curve constituency, and according to
Brake value determines to use electric braking or hydraulic braking.
Further, brake fluid system includes hydraulic pump, proportional pressure-reducing valve, hydraulic cylinder and brake disc.Brake fluid is by liquid
Proportional pressure-reducing valve is passed through in the effect of press pump, flows into swollen outside Hydraulic Cylinder piston and brake disc and generates brake force, adjusts system
The big submethod of power is to be changed by proportional pressure-reducing valve hydraulic to generate different torques.
Further, electric braking includes synchronous motor, frequency converter, and control module, which controls frequency converter, reduces Current Voltage frequency
Rate, to reduce the rotation speed of synchronous motor synchronous field.
Further, pedal displacement signal is set as, hydraulic 70% hereinafter, control module takes the mode of electric braking
Braking is not involved in participation；70% or more, what control module was taken is hydraulic braking mode, and electric braking is not involved in participation.
Further, control module obtains the variable of braking moment as input, output by the current scan period
For optimal brake effect curve.
In the above-mentioned technical solutions, the present invention combines electric braking and hydraulic braking, according to straddle carrier to the need of brake force
It asks, carries out electric braking and hydraulic braking respectively and individually control, meet straddle carrier and fast requirement is responded to braking ability while can be with
Big braking moment is provided, guarantees the braking ability of straddle carrier.
Detailed description of the invention
Fig. 1 is flow chart of the method for the present invention；
Fig. 2 is the structural schematic diagram of brake fluid system；
Fig. 3 is the schematic diagram of brake pedal signal acquisition and setting；
Fig. 4 is the schematic diagram for controlling the mechanical braking release bound of main screw lift；
Fig. 5 is the schematic diagram of hydraulic braking proportional pressure-relief valve control.
Specific embodiment
Technical solution of the present invention is further illustrated with reference to the accompanying drawings and examples.
For the prior art, in order to meet requirement of the straddle carrier to braking ability, (according to requiring, being fully loaded with is 60+50T=
When 110T, speed is in 24km/h, braking distance 16m；When unloaded 60T, speed is in 24km/h, braking distance 10m), this hair
A kind of bright multi-level fusion braking control system for disclosing straddle carrier first, major system modules include: electrical brake system, hydraulic
Braking system, (brake) pedal sensor, control module etc..
Straddle carrier of the invention has electric braking and two sets of hydraulic braking mutual independent braking systems, and of the invention more
Grade fusion braking is mainly made of electric braking and hydraulic braking, and hydraulic braking and electric braking are independent brake, two kinds of braking sides
Formula is individually, only to carry out independent brake according to how much selection electric brakings of pedal travel or hydraulic braking.Pedal travel
How much obtained by pedal sensor, pedal sensor is used for transmission the pedal displacement signal of straddle carrier.Control module of the invention
Electric braking and hydraulic braking are respectively adopted according to the differentiation of different braking torque requirement using PLC, and according to the related correlation of braking
Parameter is controlled.
Above-mentioned control module is mainly in combination with following important several control parameters:
1: cart travel speed
2: the depth of brake pedal
3: the weight of actual loading
It is fused together by the controlling curve of these parameters, chooses the smallest brake value when braking.Specifically
For, control module draws the curve of straddle carrier travel speed, the depth of brake pedal and actual loading weight, and root respectively
According to the smallest brake value in curve constituency, and determined to use electric braking or hydraulic braking according to the brake value.
In addition, referring to Fig.1, invention additionally discloses a kind of multi-level fusion brake control methods of straddle carrier, correspond to this hair
Two sets of mutually independent electrical brake systems and brake fluid system are arranged first in straddle carrier, goes forward side by side for bright above system
One step executes following steps:
S1: pedal；
S2: the pedal displacement signal of pedal sensor transmission straddle carrier；
S3: pedal displacement signal is received using control module (PLC)；
S4: the curve of drafting straddle carrier travel speed, the depth of brake pedal and actual loading weight respectively, and according to
The smallest brake value in curve constituency.In one embodiment of the invention, minimum value is set as the 70% of pedal total kilometres；
S5: if so, determining to use hydraulic braking；
S6: if it is not, determining to use electric braking.
Referring to Fig. 2, present invention ground brake fluid system includes hydraulic pump 1, proportional pressure-reducing valve 2, hydraulic cylinder 3 and brake disc 4.
Wherein hydraulic pump 1 connects proportional pressure-reducing valve 2,2 connection liquid cylinder pressure 3 of proportional pressure-reducing valve, and hydraulic cylinder 3 cooperates brake disc 4 to be braked.
In addition, electric braking includes synchronous motor, frequency converter, control module, which controls frequency converter, reduces Current Voltage frequency, to reduce same
Walk the rotation speed of motor synchronous field.
Above-mentioned technical proposal is further illustrated below by one embodiment, in the present embodiment, the logic of PlC is realized
Can be in conjunction with Fig. 3, shown in Fig. 4, the electric current of last proportional pressure-reducing valve 2 carries out Closed loop track by PLC logic, as shown in Figure 5.
Brake pedal signal is sampled first, distinguishes mechanical braking (hydraulic braking) intervention point (being greater than 70% analog quantity).And
Intervention depth curve has been done again in mechanical braking section.With brake upper pressure limit value and the walking brake pressure of walking
Two parameters of power lower limit value (solenoid valve given parameters) are used as bound, as shown in Figure 3.100,70 believe in Fig. 3 for pedal travel
Number input bound, given value is respectively 100% and 70%.
Big vehicle speed machine for releasing tool braking curve and main screw lift machinery release profiles are merged on the basis of above-mentioned strategy
(curve is test curve obtained), selects the smallest release profiles.Respectively by (big vehicle speed is for brake upper pressure limit
Value and big vehicle speed are for brake low pressure limit value) bound of the mechanical braking of the big vehicle speed of state modulator release,
(weight sensor is for brake upper pressure limit value and weight sensor for brake low pressure limit value) parameter
The bound of the mechanical braking release of main screw lift is controlled, as shown in Figure 4.Wherein (big vehicle speed is for brake pressure
Upper limit value and big vehicle speed are for brake upper pressure limit value) and (weight sensor is for brake upper pressure limit
Value and weight sensor are for brake low pressure limit value) it is solenoid valve given parameters bound.ANALOG_ in Fig. 4
NORM_INT2 100,30 indicates the percentage of the max speed, i.e. 100% × 24km/h and 30% × 24km/h.And
50,0 expression the upper and lower of straddle carrier actual pay load are limited to 50t, 0t in ANALOG_NORM_INT3.
In normal operation, the period that the correlated variables for braking moment passes through PLC Current Scan is as control
System input obtains optimal brake effect curve, the output as thermoacoustic prime engine by the fusion of programmed logic.
Mechanism braking is controlled by the proportional pressure-reducing valve 2 of hydraulic braking, feeds back control by the current closed-loop of comparative example pressure reducing valve 2
System realizes that the pressure of left and right brake unit is consistent.It is added to pid control function module and current feedback functional module herein.
It is final that given ref (given value of current value) is combined to reach control requirement, as shown in Figure 5.
Illustrate the judgement and process when present invention braking by one embodiment again below.
1. mode of braking differentiates process
Driver's pedal, pedal are subjected to displacement, and displacement signal is transferred to PLC by the sensor at this moment connecting with pedal,
PLC selects motor braking or hydraulic braking according to pedal travel.When pedal travel is less than the 70% of total kilometres, electric braking is selected
Mode.When pedal travel reaches the 70% of total kilometres, the braking moment that at this moment electric braking can be provided reaches maximum value, can not
Higher braking moment is provided again, therefore working as pedal travel is more than total kilometres 70%, selects hydraulic braking, as shown in Figure 1.
Braking floor push is the analogue quantity switch that a total kilometres are 4000-20000ma, 4000- in program
20000ma is divided into the section of 100 unit-sizeds, and each section represents 1 percent.
70% hereinafter, program takes the mode of electric braking, hydraulic braking is not involved in participation.
70% or more, what program was taken is hydraulic braking mode, and electric braking is not involved in participation.
2. braking process
1) motor braking process: when pedal travel is less than the 70% of total kilometres, braking mode is motor braking.This across
Transporting motor used in vehicle is synchronous motor.When straddle carrier braking, by controlling frequency converter, Current Voltage frequency is reduced, to drop
The rotation speed of low motor synchronous field, when synchronous electric motor rotor speed is more than the rotation speed of motor synchronous field, rotor
The direction of rotation of electromagnetic torque caused by winding and the choosing of rotor turn contrary, and generated electromagnetic torque is brake force
Square, motor are in on-position.
2) hydraulic braking: when pedal travel is more than the 70% of total kilometres, braking moment needed for straddle carrier exceeds motor system
Maximum braking moment provided by dynamic.At this moment straddle carrier interrupts motor braking, starts to carry out hydraulic braking.Fig. 2 is hydraulic braking
Schematic diagram, straddle carrier carry out hydraulic braking when, brake fluid by hydraulic pump 1 effect pass through proportional pressure-reducing valve 2, flow into hydraulic cylinder
Swollen contact with brake disc 4 generates brake force outside 3 promotion pistons.The big submethod of regulating brake force is changed by proportional pressure-reducing valve 2
It is hydraulic to generating different torques.
3) PLC is to cart speed, and total load quality, cart, which turns to become, accelerates speed limit, and braking process is controlled, and is prevented
Only emergency situations generate.
In conclusion the present invention may be implemented it is below the utility model has the advantages that
1. what the braking moment luck electricity consumption brake assurance straddle carrier needed for electric braking can satisfy straddle carrier was braked can
By property, meet response time fast requirement, when braking moment requires high, hydraulic braking provides enough braking moments.
2. the parameters such as load weight are controlled, it is ensured that straddle carrier safety according to cart speed.
Those of ordinary skill in the art it should be appreciated that more than embodiment be intended merely to illustrate the present invention,
And be not used as limitation of the invention, as long as the change in spirit of the invention, to embodiment described above
Change, modification will all be fallen within the scope of claims of the present invention.
Claims (10)
1. a kind of multi-level fusion braking control system of straddle carrier characterized by comprising
Straddle carrier, the straddle carrier have electric braking and two sets of hydraulic braking mutual independent braking systems；
Pedal sensor transmits the pedal displacement signal of straddle carrier；
Control module draws the curve of straddle carrier travel speed, the depth of brake pedal and actual loading weight, and root respectively
According to the smallest brake value in curve constituency, and determined to use electric braking or hydraulic braking according to the brake value.
2. the multi-level fusion braking control system of straddle carrier as described in claim 1, it is characterised in that:
The brake fluid system includes hydraulic pump, proportional pressure-reducing valve, hydraulic cylinder and brake disc；
The hydraulic pump connects the proportional pressure-reducing valve, and the proportional pressure-reducing valve connects the hydraulic cylinder, the hydraulic cylinder cooperation
The brake disc is braked.
3. the multi-level fusion braking control system of straddle carrier as described in claim 1, it is characterised in that:
The electric braking includes synchronous motor, frequency converter, and the control module, which controls the frequency converter, reduces Current Voltage frequency,
To reduce the rotation speed of synchronous motor synchronous field.
4. the multi-level fusion braking control system of straddle carrier as described in claim 1, it is characterised in that:
The pedal displacement signal is set as, and 70% hereinafter, control module takes the mode of electric braking, hydraulic braking is not involved in
It participates in；70% or more, what control module was taken is hydraulic braking mode, and electric braking is not involved in participation.
5. the multi-level fusion braking control system of straddle carrier as described in claim 1, it is characterised in that:
The control module is used as input by the variable that the current scan period obtains braking moment, and output is optimal brake
Effect curve.
6. a kind of multi-level fusion brake control method of straddle carrier characterized by comprising
Two sets of mutually independent electrical brake systems and brake fluid system are set in straddle carrier；
Acquire the pedal displacement signal of straddle carrier
Draw the curve of straddle carrier travel speed, the depth of brake pedal and actual loading weight respectively using control module,
And according to the smallest brake value in curve constituency, and determined to use electric braking or hydraulic braking according to the brake value.
7. multi-level fusion brake control method as claimed in claim 6, it is characterised in that:
The brake fluid system includes hydraulic pump, proportional pressure-reducing valve, hydraulic cylinder and brake disc；
Brake fluid is passed through proportional pressure-reducing valve by the effect of hydraulic pump, is flowed into swollen outside Hydraulic Cylinder piston and brake disc and is generated
Brake force, the big submethod of regulating brake force are to be changed by proportional pressure-reducing valve hydraulic to generate different torques.
8. multi-level fusion brake control method as claimed in claim 6, it is characterised in that:
The electric braking includes synchronous motor, frequency converter, and the control module, which controls the frequency converter, reduces Current Voltage frequency,
To reduce the rotation speed of synchronous motor synchronous field.
9. multi-level fusion brake control method as claimed in claim 6, it is characterised in that:
The pedal displacement signal is set as, and 70% hereinafter, control module takes the mode of electric braking, hydraulic braking is not involved in
It participates in；70% or more, what control module was taken is hydraulic braking mode, and electric braking is not involved in participation.
10. multi-level fusion brake control method as claimed in claim 6, it is characterised in that:
The control module is used as input by the variable that the current scan period obtains braking moment, and output is optimal brake
Effect curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910659813.4A CN110386117B (en) | 2019-07-22 | 2019-07-22 | Multi-stage fusion brake control system and method for straddle carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910659813.4A CN110386117B (en) | 2019-07-22 | 2019-07-22 | Multi-stage fusion brake control system and method for straddle carrier |
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| Publication Number | Publication Date |
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| CN110386117A true CN110386117A (en) | 2019-10-29 |
| CN110386117B CN110386117B (en) | 2020-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910659813.4A Active CN110386117B (en) | 2019-07-22 | 2019-07-22 | Multi-stage fusion brake control system and method for straddle carrier |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002686A (en) * | 2014-06-13 | 2014-08-27 | 上海振华重工(集团)股份有限公司 | Braking system and method for container straddle carrier |
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2019
- 2019-07-22 CN CN201910659813.4A patent/CN110386117B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002686A (en) * | 2014-06-13 | 2014-08-27 | 上海振华重工(集团)股份有限公司 | Braking system and method for container straddle carrier |
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| CN110386117B (en) | 2020-08-07 |
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