自动化码头IGV制动控制策略研究  

Research on IGV Braking Control Strategy for Automated Terminal

作　　者：吴丛铭 温富荣 张煜[2] 杨彩云 罗欣欣 李家良 刘原良 林建良 Wu Congming;Wen Furong;Zhang Yu;Yang Caiyun;Luo Xinxin;Li Jialiang;Liu Yuanliang;Lin Jianliang(Guangxi Qinzhou Bonded Port Shenggang Terminal Co.,Ltd.;School of Transportation and Logistics Engineering,Wuhan University of Technology)

机构地区：[1]广西钦州保税港区盛港码头有限公司 [2]武汉理工大学交通与物流工程学院

出　　处：《港口装卸》2023年第5期34-37,共4页Port Operation

摘　　要：智能引导运输车是自动化码头重型集装箱水平运输车辆的发展方向,其行车制动采用液压助力鼓式制动,驻车制动采用夹轮器制动。由于鼓式制动冲击大,容易损伤装载的集装箱,且对轮胎损伤较大,制动过程需要减轻轮胎磨损、减少制动冲击。为满足自动化集装箱码头IGV平稳可靠制动需求,以智能引导运输车的制动稳定性为目标,提出一种中置双电机的制动控制策略。依照动力性要求对IGV驱动系统进行参数匹配,确定中置双电机的输出特性;制定IGV正常行驶工况下电机制动控制策略,电控系统与导航系统相结合,对车辆进行准确制动;选择能耗制动的电机制动方式,将IGV中置双电机转子切割直流磁场产生的电能,电能消耗在IGV中置双电机转子的制动上。实际应用表明,该策略效果良好。Intelligent guided transport vehicle is the development direction of horizontal transportation vehicles for heavy containers in automated terminals.The driving brake adopts hydraulic assisted drum brake,and the parking brake adopts wheel clamp brake.Due to the large impact of drum braking,it is easy to damage the loaded container and cause significant damage to the tires.Therefore,the braking process requires reducing tire wear and reducing braking impact.To meet the stable and reliable braking requirements of IGVs in automated container terminals,a braking control strategy with central dual motor is proposed with the goal of intelligent guided transport vehicle braking stability.The parameters are matchedof the IGV drive system according to the power requirements to determine the output characteristics of the central dual motor.A motor braking control strategy is developedfor IGV under normal driving conditions,combining the electronic control system with the navigation system to accurately brake the vehicle.And the motor braking method of energy consumption brakingis selected,which means the electric energy,generated by cutting the DC magnetic field of the double motor rotor in the IGV,can beconsumedin the braking of the dual motor rotor in the IGV.Practical applications shows that this strategy has good effectiveness.

关 键 词：智能导引水平运输车 电机制动 双电机驱动 稳定性 控制策略 

分 类 号：U653[交通运输工程—港口、海岸及近海工程]