Design Of Electronic Control System For CRS 45T Reach Stacker

With the development of technology,the reach stacker become more intelligent.Electronic control system as the core of reach stacker’ part,which have weighting,anti-rollover protection,adjusting operation parameters,automatic matching engine optimal conditions and many other functions.Electronic control system can making reach stacker comfort and safety,and efficiency.At present,the electronic control system has been widely used in the reach stacker,heap high machine and other mobile handle vehicles.In this paper,the PARKER IQAN series controller and the CRS45 T reach stacker are used as an example,according to the operating conditions of the reach stacker to design the hardware and software.The closed loop control of the front hanger is carried out,and the control method and parameters are optimized to improve the performance.A reliable calculation formula of torque balance weighing is established,and it is proved by experiment that the weighing algorithm is effective.The torque balance anti tilting system is analyzed,and a new anti dump method is proposed.The main work of this paper can be divided into the following aspects:1、Brief introduction of reach stacker and its electronic control system.The requirements of the electronic control system software for the reach stacker are determined by the structural features,design requirements,operating conditions and safety specifications.2、Analyze the motion of the boom,the closed loop system is used to control the boom speed,the limit position buffer and the precise control of the vertical lifting.The parameters of the closed loop system are optimized.According to the experiment,the optimization is helpful to improve the performance of the reach stacker.3、Analyze the force of the boom,and the torque balance mathematical model is established.The weight of the container is calculated by the moment balance method, and the torque balance weighing is tested practically.The method meets the design requirements.4、By analyzing the shortcomings of the reach stacker’s structure and the torque balance anti rollover,a new anti rollover device--rear axle load measurement anti rollover device and dynamic anti rollover protection is put forward.The balance of the reach stacker is judged through the load of the rear axle,which eliminates the disadvantage that the torque balance can not be measured under the weightlessness condition,and improves the measurement accuracy.5、Test the reach stacker’s performance to verify that the electronic control software has made the reach stacker comfortable,efficiency,and can saving energy and reducing emission.The front crane electric control system has the closed loop control system of the boom movement.Two kinds of anti rollover protection devices are used.The performance of the hydraulic system,the working device and the anti rollover capability of the truck have been improved.