Research On Control System For Hydrostatic Empty Container Handling Machine

Empty container handling machine is one of the key device for the container transport equipment, which is widely used in ports, terminals, rail transit stations and highway within the empty container yard stacking and transport. It is a complementary product of quayside container gantry crane, rail mounted container gantry crane and reach container stacker, with high stacking layers, stacking and handling speed, high efficiency and flexibility, saving space and so on.In this paper, control system and key control technology for hydrostatic empty container handling machine are researched. Through analysis of hydraulic forklift basic components and working principle, the control system based on a special controller and CAN bus is developed. The function requirements of control system are analyzed. The hardware network is set up and the control software is designed. Techniques and implementation methods of speed control, shift control, spreader control, door frame forward and backward control are studied. Monitoring and fault diagnosis system is developed. Focusing on braking process of walking, neutral gear sliding, energy-saving and anti-rollover control are studied deeply, which are all important problems of hydrostatic empty container handling machine. The proposed methods in this thesis and the control system developed are tested in the prototype machine. The actual experimental results show that the control system is feasible.