CN-115924747-B - Micro-motion control system and method for electric container handling equipment

CN115924747BCN 115924747 BCN115924747 BCN 115924747BCN-115924747-B

Abstract

The application discloses a micro-motion control system and method of electric container handling equipment, which are applied to the field of industrial loading and unloading. According to the inching control system and the inching control method for the electric container handling equipment, firstly, the accelerator pedal opening of a vehicle and the time for maintaining the accelerator pedal opening are obtained, whether the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet preset conditions or not is judged, if the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet the preset conditions, the vehicle enters a inching control mode, and if the accelerator pedal opening and the time for maintaining the accelerator pedal opening do not meet the preset conditions, the vehicle keeps a walking mode. By the inching control system and the inching control method, an additional control brake pedal is not needed, the inching function can be implemented only through the accelerator pedal, the switching between a walking mode and the inching control mode is realized, and the phenomenon that the electric front crane, the stacker or the electric container handling equipment generates larger vibration due to unstable gravity center when the brake pedal is stepped on to the bottom is avoided.

Inventors

LIU DAQING
YE KUN
HU BIN

Assignees

杭叉集团股份有限公司

Dates

Publication Date: 20260508
Application Date: 20221213

Claims (6)

1. A jog control method of an electric container handling apparatus, comprising: after the inching function is opened through the interactive instrument, the opening degree of an accelerator pedal of the vehicle and the time for maintaining the opening degree of the accelerator pedal are obtained; judging whether the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet preset conditions or not; if yes, determining that the vehicle is in a inching control mode; if not, determining that the vehicle is in a walking mode; The method comprises the steps of judging whether the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet preset conditions or not, if not, determining whether the accelerator pedal opening and the time for maintaining the accelerator pedal opening do not meet preset conditions or not, if yes, judging whether the accelerator pedal opening and the time for maintaining the accelerator pedal opening are larger than preset time, if yes, determining that the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet preset conditions, if not, determining that the accelerator pedal opening and the time for maintaining the accelerator pedal opening do not meet preset conditions, or Judging whether the accelerator pedal opening is in a rising edge state or not according to the accelerator pedal opening, if the accelerator pedal is in the rising edge state and the time for maintaining the accelerator pedal opening is greater than a inching trigger time threshold, determining that the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet preset conditions, and if not, determining that the accelerator pedal opening and the time for maintaining the accelerator pedal opening do not meet preset conditions; The method comprises the steps of determining a vehicle to be in a inching control mode, acquiring target torque and inching control enabling sent by a whole vehicle controller, determining a target vehicle speed according to the target torque and the inching control enabling, and controlling a motor to run at a constant speed according to the target vehicle speed; The method comprises the steps of determining that the vehicle is in a walking mode, acquiring a rising edge curve and a falling edge curve, and controlling a motor to execute running vehicle speed control according to the rising edge curve or the falling edge curve.
2. The inching control method of an electric container handling apparatus according to claim 1, wherein controlling motor travel according to the rising edge curve comprises: If the opening of the accelerator pedal is in the inching control range, receiving a PI control signal sent by the whole vehicle controller to control the vehicle speed to smoothly transition to the inching speed; and if the opening of the accelerator pedal is in a walking control range, receiving a proportional control signal sent by the whole vehicle controller to control the vehicle to be changed from the inching control mode to the walking mode.
3. The inching control method of an electric container handling apparatus according to claim 1, wherein controlling motor travel according to the falling edge curve comprises: And if the opening degree of the accelerator pedal starts to decrease, receiving a proportional control signal sent by the whole vehicle controller to control the vehicle speed to smoothly transition to 0.
4. A jog control device of an electric container handling apparatus for implementing the jog control method of an electric container handling apparatus according to any one of claims 1 to 3, characterized by comprising: the acquisition module is used for acquiring the opening degree of an accelerator pedal of the vehicle and the time for maintaining the opening degree of the accelerator pedal after the inching function is opened through the interactive instrument; the judging module is used for judging whether the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet preset conditions or not; the first determining module is used for determining that the vehicle is in a inching control mode when the judging module judges that the vehicle is in the inching control mode; and the second determining module is used for determining that the vehicle is in a walking mode when the judging module judges that the vehicle is in a no-walking mode.
5. An electric front crane or stacker, comprising a memory for storing a computer program; A processor for implementing the steps of the jog control method of an electrically operated container handling device as claimed in any one of claims 1 to 3 when executing said computer program.
6. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the jog control method of an electric container handling device as claimed in any one of claims 1 to 3.

Description

Micro-motion control system and method for electric container handling equipment Technical Field The application relates to the field of industrial loading and unloading, in particular to a micro-motion control system and method of electric container handling equipment. Background The electric front crane and the stacker are container lifting mechanical equipment applied to places such as ports and docks, railway and highways and the like, are mainly used for stacking containers and horizontal transportation in docks and yards, and have the advantages of flexibility, convenience in operation, good stability, lower wheel pressure, high stacking layer number, high yard utilization rate and the like compared with a forklift. When the electric front crane and the stacking machine are used for hanging boxes, the vehicle is required to run at a lower speed so as to finely adjust the position of the vehicle to position the lifting appliance and the box body, and collision is reduced. Aiming at the electric front crane and the stacker, the currently adopted inching control needs to integrate the inching function into the braking function by means of an additional brake pedal, and a driver controls the magnitude of the braking force through the opening degree of the brake pedal so as to conveniently inching control the electric loading vehicle under the condition of large load. However, when the brake pedal is stepped on to the bottom, the mode can be directly switched from a inching mode to braking and braking, and large vibration is easy to generate on a vehicle with the over-high gravity center due to the over-high cantilever crane such as a front crane or a stacker. Disclosure of Invention The application aims to provide a micro-motion control system and method for electric container handling equipment, which can realize a low-speed section micro-motion control function under a motor torque control module by using the state change of a walking accelerator pedal without additionally adding an electric brake pedal, so that the phenomenon that a driver is easy to directly switch from a micro-motion mode to a brake mode to cause unbalance of the gravity center of an electric front crane or a stacker to generate larger vibration is avoided. In order to solve the above technical problems, the present application provides a micro-motion control method for an electric container handling apparatus, including: acquiring an accelerator pedal opening of a vehicle and a time for maintaining the accelerator pedal opening; Judging whether the opening degree of the accelerator pedal and the time for maintaining the opening degree of the accelerator pedal meet preset conditions or not; If yes, determining that the vehicle is in a inching control mode; if not, determining that the vehicle is in a walking mode. Preferably, determining whether the accelerator pedal opening and the time for which the accelerator pedal opening is maintained satisfy the preset conditions includes: Judging whether the opening of the accelerator pedal is a preset threshold value or not; if not, determining that the accelerator pedal opening and the time for maintaining the accelerator pedal opening do not meet the preset conditions; If yes, judging whether the time for maintaining the opening of the accelerator pedal is longer than the preset time; If yes, determining that the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet preset conditions; If not, determining that the accelerator pedal opening and the time for which the accelerator pedal opening is maintained do not meet the preset conditions. Preferably, determining whether the accelerator pedal opening and the time for which the accelerator pedal opening is maintained satisfy the preset conditions includes: judging whether the accelerator pedal is in a rising edge state according to the opening degree of the accelerator pedal; If the accelerator pedal is in a rising edge state and the time for maintaining the accelerator pedal opening is greater than the inching trigger time threshold, determining that the accelerator pedal opening and the time for maintaining the accelerator pedal opening meet preset conditions; if not, determining that the accelerator pedal opening and the time for maintaining the accelerator pedal opening do not meet the preset conditions. Preferably, after determining that the vehicle is in the inching control mode, further comprising: Acquiring target torque and inching control enabling sent by a whole vehicle controller; determining a target vehicle speed according to the target torque and inching control enable; And controlling the motor to run at a constant speed according to the target vehicle speed. Preferably, after determining that the vehicle is in the walking mode, the method further includes: acquiring a rising edge curve and a falling edge curve; the control motor performs running vehicle speed control according to the risin