A full-automatic gearbox limit gear and speed control method and system for port machinery

Abstract

The present invention discloses a method and system for controlling the gear limit and speed limit of a fully automatic transmission of port machinery. The method includes: in response to receiving a request for limiting the speed of the whole machine, obtaining the actual vehicle speed of the whole machine, the current gear of the transmission, and the preset maximum allowable vehicle speed; according to the maximum allowable vehicle speed v max and the maximum vehicle speeds v mmax of each gear of the preset transmission, determine the highest allowable gear G max ; compare the current gear G cur of the transmission with the highest allowable gear G max to obtain a gear comparison result, and according to the gear comparison result, issue an instruction to execute downshift speed limit control: in response to G cur > G max , issue an instruction to execute forced downshift control until G cur ≤ G max ; in response to G cur = G max , issue an instruction to execute engine speed limit control: when v cur > v max or v del ≤ v thd , issue an instruction to limit the engine speed to the maximum allowable engine speed n max . To achieve the optimal limit control of the vehicle speed of port machinery.

Description

Technical Field

[0001] The present invention belongs to the technical field of construction machinery, and relates to a method and system for limiting gear and speed of a fully automatic transmission of a port machine. Background Art

[0002] The reachstacker of a port machine is a special lifting and handling equipment for loading, unloading, handling and stacking containers, which has the advantages of convenience, flexibility and high operation efficiency, and is mainly applied to various container freight yards such as port terminals, railways, highways, logistics transfer stations, etc. When the reachstacker is operating, it has the characteristics of short transportation distance, variable load and frequent driving with load.

[0003] When the reachstacker is unloaded, it can run at high speed. When it is loaded, the vehicle speed cannot be too high, and the maximum vehicle speed must be limited to prevent tipping over. In order to ensure both operation safety and operation efficiency at the same time, the vehicle control unit VCU calculates and adjusts the maximum vehicle speed limit value according to the actual load and attitude of the vehicle, and sends it to the transmission control unit TCU, and the transmission control unit TCU realizes the control of the maximum vehicle speed of the whole machine.

[0004] However, during the operation of the reachstacker, the load and attitude are variable, and the maximum vehicle speed limit value needs to be continuously adjusted. Therefore, receiving and accurately responding to the speed limit request of the whole machine is of great significance for improving the operation efficiency of the whole machine on the premise of ensuring operation safety.

[0005] The existing technologies have the following defects: Most of the existing technologies use vehicle instruments or speed limit devices to limit the maximum vehicle speed by correcting the engine throttle signal input, only limiting the engine speed or the highest gear of the transmission.

[0006] For the fully automatic transmission of a port machine with multiple gears, the vehicle speed range of each gear is large. Only by limiting the engine speed or the highest transmission gear, it is impossible to achieve refined and accurate control of vehicle speed limit, resulting in problems of insufficient power at low vehicle speed and easy overspeed at high vehicle speed. Summary of the Invention

[0007] Objective: In order to overcome the deficiencies in the existing technologies, the present invention provides a method and system for limiting gear and speed of a fully automatic transmission of a port machine. According to the speed limit request of the vehicle control unit VCU of the whole machine, the transmission control unit TCU realizes the joint control of the transmission gear and the engine speed, so as to achieve refined and accurate control of the vehicle speed limit of the reachstacker product, ensure the acceleration ability of the vehicle at low speed and avoid vehicle overspeed.

[0008] Technical Solution: To solve the above technical problems, the technical solution adopted by the present invention is as follows:

[0009] In a first aspect, a method for limiting gear and speed of a fully automatic transmission of a port machine is provided, including:

[0010] In response to receiving the whole machine speed limit request, obtain the whole machine actual speed v cur 、Gearbox current gear position G cur and the preset maximum permissible speed v max ;

[0011] According to the maximum permissible speed v max The maximum vehicle speed v of each gear of the preset gearbox mmax Determine the highest allowable gear G max , where v mmax G is the mth gear position of the gearbox m Maximum speed v mmax , m represents the total number of gears in the gearbox;

[0012] Change the gearbox to the current gear position G cur With the highest permissible gear G max Make comparisons;

[0013] In response to G cur >G max , issue a command to execute forced downshift control until G cur ≤G max ;

[0014] In response to G cur =G max , issue a command to execute engine speed limit control;

[0015] In response to G cur <G max , issue a command to cancel the engine speed limit control.

[0016] In some embodiments, the engine speed limit control includes:

[0017] According to the determined maximum permissible gear G max , calculate the maximum allowable engine speed n max ;

[0018] The actual vehicle speed v cur The maximum permissible speed v max A comparison is made to obtain a vehicle speed comparison result, and according to the vehicle speed comparison result, a corresponding instruction is issued to execute engine speed limit control, including:

[0019] In response to v cur >v max , issues a command to limit the engine speed to the maximum permissible engine speed n max ;

[0020] In response to v cur ≤v max , speed difference v del =vmax -v cur Compare the vehicle speed difference v del with the preset speed limit control threshold v thd and, in response to v del > v thd cancel the engine speed limit control; in response to v del ≤ v thd issue an instruction to limit the engine speed to the maximum allowable engine speed n max .

[0021] In some embodiments, determine the highest allowable gear G max based on the highest allowable vehicle speed v mmax and the highest vehicle speeds v max of the preset gears of the transmission, including:

[0022] Obtain the highest vehicle speed v m of the preset transmission gear G mmax ;

[0023] (3-1) Compare the highest allowable vehicle speed v max with the highest vehicle speed v 1max of the first gear. If v max ≤ v 1max , then G max is 1, otherwise proceed to step (3-2) for judgment;

[0024] (3-2) Compare v max with the highest vehicle speed v 2max of the second gear. If v max ≤ v 2max , then G max is 2, otherwise proceed to step (3-3) for judgment;

[0025] (3-3) Compare v max sequentially with the highest vehicle speeds v mmax of the remaining gears m until v max ≤ v mmax is satisfied, and G max is m.

[0026] In some embodiments, calculate the maximum allowable engine speed n max based on the determined highest allowable gear G max , including:

[0027] n max = b * v max * i m * i0 / r

[0028] where b is the engine speed calculation coefficient; i mFor the transmission G m The gear ratio of the gear position is determined according to the highest allowable gear position G max ; i0 is the speed ratio of the drive shaft main reducer, and r is the wheel radius.

[0029] In some embodiments, obtaining the actual vehicle speed v of the whole machine cur , includes:

[0030] Obtaining the output shaft speed n out , and calculating the actual vehicle speed v of the whole machine according to the output shaft speed n out ; cur

[0031] Or directly obtain the actual vehicle speed v of the whole machine cur .

[0032] Furthermore, in some embodiments, calculating the actual vehicle speed v of the whole machine according to the output shaft speed n out , includes: cur

[0033] v cur = a * n out * r / i0

[0034] where a is the vehicle speed calculation coefficient; i0 is the speed ratio of the drive shaft main reducer, and r is the wheel radius.

[0035] In some embodiments, the automatic gear shifting and speed limiting control method for port machinery also includes: in response to G cur > G max , sending out an alarm instruction to prompt the driver.

[0036] In a second aspect, there is provided an automatic gear shifting and speed limiting control device for port machinery, including a memory and a processor. The memory is used to store instructions, and the instructions are used to control the processor to operate so as to execute the automatic gear shifting and speed limiting control method for port machinery according to the first aspect.

[0037] In a third aspect, there is provided an automatic gear shifting and speed limiting control system for port machinery, including the automatic gear shifting and speed limiting control device for port machinery according to the second aspect.

[0038] In a fourth aspect, there is provided a port machinery, including the automatic gear shifting and speed limiting control device for port machinery according to the first aspect or the automatic gear shifting and speed limiting control system for port machinery according to the second aspect.

[0039] Beneficial effects: A method and system for limiting gear and speed of a fully automatic transmission of port machinery provided by the present invention can achieve the optimal limit control of the vehicle speed of port machinery products, that is, it can ensure the acceleration ability of the vehicle in low gear and low speed states, and can also avoid vehicle speeding, improve operation efficiency, and ensure operation safety. It can conveniently and accurately implement the speed limit request of the whole machine control unit VCU, and solve the problems of unreasonable speed limit control, resulting in insufficient power in the low-speed state of the vehicle and easy speeding in the high-speed state.

[0040] Based on the current gear of the transmission to judge control and the preset vehicle speed limit control threshold v thd , the transmission control unit TCU realizes the accurate control of the transmission gear and engine speed, ensures the acceleration ability of the vehicle in low gear and low speed states and avoids vehicle speeding. Description of the drawings

[0041] Figure 1 Schematic diagram of the system for limiting gear and speed of a fully automatic transmission of port machinery according to an embodiment of the present invention;

[0042] Figure 2 Main flowchart of the method for limiting gear and speed of a fully automatic transmission of port machinery according to an embodiment of the present invention;

[0043] Figure 3 Detailed flowchart of the method for limiting gear and speed of a fully automatic transmission of port machinery according to an embodiment of the present invention. Specific embodiments

[0044] The present invention will be further described below with reference to the drawings and embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, and cannot be used to limit the protection scope of the present invention.

[0045] In the description of the present invention, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0046] In the description of the present invention, the descriptions with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0047] Embodiment 1

[0048] As Figure 2 、 Figure 3 shown, a method for controlling the gear limit and speed limit of a fully automatic transmission of port machinery includes:

[0049] In response to receiving a whole machine speed limit request, obtain the actual vehicle speed v of the whole machine cur , the current gear G of the transmission cur and the preset maximum allowable vehicle speed v max ;

[0050] According to the maximum allowable vehicle speed v max and the maximum vehicle speeds v of each gear of the preset transmission mmax determine the maximum allowable gear G max , where v mmax is the maximum vehicle speed v of the m-th gear G of the transmission m , and m represents the total number of gears of the transmission; mmax

[0051] Compare the current gear G of the transmission cur with the maximum allowable gear G max to obtain a gear comparison result, and according to the gear comparison result, issue an instruction to execute downshift speed limit control:

[0052] In response to G cur > G max , issue an instruction to execute forced downshift control until G cur ≤ G max ;

[0053] In response to G cur = G max , issue an instruction to execute engine speed limit control;

[0054] In response to G cur < G max , issue an instruction to cancel the engine speed limit control.

[0055] In some embodiments, the engine speed limit control includes:

[0056] According to the determined highest allowable gear G max , calculate the maximum allowable engine speed n max ;

[0057] Compare the actual vehicle speed v of the whole machine cur with the highest allowable vehicle speed v max to obtain the vehicle speed comparison result. According to the vehicle speed comparison result, issue a corresponding instruction to perform engine speed limit control, including:

[0058] In response to v cur > v max , issue an instruction to limit the engine speed to the maximum allowable engine speed n max ;

[0059] In response to v cur ≤ v max , the vehicle speed difference v del = v max - v cur , compare the vehicle speed difference v del with the preset speed limit control threshold v thd . In response to v del > v thd , cancel the engine speed limit control; in response to v del ≤ v thd , issue an instruction to limit the engine speed to the maximum allowable engine speed n max .

[0060] In some embodiments, according to the highest allowable vehicle speed v max and the highest vehicle speeds v of the preset gear positions of the transmission mmax determine the highest allowable gear G max , including:

[0061] Obtain the highest vehicle speed v of the preset transmission G m gear position mmax ;

[0062] (3-1) Compare the highest allowable vehicle speed v max with the highest vehicle speed v of the first gear 1max . If v max ≤ v 1max , then G max is 1, otherwise go to step (3-2) for judgment;

[0063] (3-2) Compare v max with the highest vehicle speed v of the second gear 2max . If v max ≤ v 2max , then G maxIf it is 2, otherwise, proceed to step (3-3) for judgment;

[0064] (3-3) Compare v max successively with the maximum vehicle speed v mmax of the lowest gear m of the remaining gears until v max ≤ v mmax , and G max is m.

[0065] In some embodiments, according to the determined highest allowable gear G max , calculate the maximum allowable engine speed n max , including:

[0066] n max = b * v max * i m * i0 / r

[0067] where b is the engine speed calculation coefficient; i m is the gear ratio of the transmission gear G m , determined according to the highest allowable gear G max ; i0 is the drive shaft main reducer ratio, and r is the wheel radius.

[0068] In some embodiments, obtain the actual vehicle speed v cur of the whole machine, including:

[0069] Obtain the output shaft speed n out , and calculate the actual vehicle speed v out of the whole machine according to the output shaft speed n cur ;

[0070] Or, directly obtain the actual vehicle speed v cur .

[0071] Further, in some embodiments, calculate the actual vehicle speed v out of the whole machine according to the output shaft speed n cur , including:

[0072] v cur = a * n out * r / i0

[0073] where a is the vehicle speed calculation coefficient; i0 is the drive shaft main reducer ratio, and r is the wheel radius.

[0074] In some embodiments, the port machinery full-automatic transmission gear limit and speed limit control method further includes: in response to G cur > G max , issue an alarm command to prompt the driver.

[0075] Embodiment 2

[0076] In a second aspect, a limit gear and speed control device for a fully automatic transmission of port machinery is provided, including a memory and a processor. The memory is used to store instructions for controlling the processor to operate so as to execute the limit gear and speed control method for the fully automatic transmission of port machinery according to the first aspect.

[0077] In some embodiments, the limit gear and speed control device for the fully automatic transmission of port machinery is, for example, Figure 1 the control unit shown in

[0078] Embodiment 3

[0079] In a third aspect, a limit gear and speed control system for a fully automatic transmission of port machinery is provided, including the limit gear and speed control device for the fully automatic transmission of port machinery according to the second aspect.

[0080] In some embodiments, as shown in Figure 1 a limit gear and speed control system for a fully automatic transmission of port machinery is composed of a transmission control unit TCU, an engine control unit ECU, a whole machine control unit VCU, a transmission, a drive shaft, and tires.

[0081] The engine is mechanically connected to the input end of the transmission, and the output end of the transmission is mechanically connected to the drive shaft and the tires. When the transmission engages a gear, the power of the engine can be transmitted to the drive shaft and the wheels to drive the vehicle to travel.

[0082] The transmission control unit TCU is connected to the transmission through a signal cable, outputs a gear control signal to control the gear shift of the transmission, acquires the signal of the transmission output shaft speed sensor, and calculates the current vehicle speed value in real time in combination with the drive shaft speed ratio and the tire radius.

[0083] The engine control unit ECU is connected to the engine through a signal cable, receives the speed limit request of the transmission control unit TCU, and realizes the control of the engine operating state.

[0084] The transmission control unit TCU is connected to the whole machine control unit VCU through a CAN bus network to receive the highest vehicle speed limit request of the whole machine; the transmission control unit TCU is connected to the engine control unit ECU through a CAN bus network to send the highest engine speed limit request.

[0085] The limit gear and speed control steps for the fully automatic transmission of port machinery are as shown in Figure 2 and the detailed control process is as shown in Figure 3 as follows. The specific steps are as follows:

[0086] (1) Calculate the vehicle speed of the whole machine in real time. The transmission control unit TCU collects the signal of the output shaft speed sensor to obtain the output shaft speed n out, calculate the actual vehicle speed according to v cur =a*n out *r / i0, where a is the vehicle speed calculation coefficient, i0 is the speed ratio of the main reducer of the drive shaft, and r is the wheel radius;

[0087] (2) Whole machine speed limit request judgment. The whole machine control unit VCU sends the preset maximum allowable vehicle speed v max to the transmission control unit TCU through the CAN network;

[0088] (3) Calculate the highest allowable gear G max and the maximum allowable engine speed n max to calculate the highest vehicle speed v m of the preset transmission G mmax gear. This vehicle speed value can be obtained by the overall vehicle power matching calculation or by actual vehicle testing. Here, m represents the total number of gears of the transmission. The judgment steps for the highest allowable gear G max are as follows:

[0089] (3-1) Compare the highest allowable vehicle speed v max with the highest vehicle speed v 1max of the first gear. If v max ≤v 1max , then G max is 1, and proceed to step (3-4) for calculation; otherwise, proceed to step (3-2) for judgment;

[0090] (3-2) Compare v max with the highest vehicle speed v 2max of the second gear. If v max ≤v 2max , then G max is 2, and proceed to step (3-4) for calculation; otherwise, proceed to step (3-3) for judgment;

[0091] (3-3) Compare v max with the highest vehicle speeds of the remaining gears in turn until v max ≤v mmax , G max is m, and proceed to step (3-4) for calculation;

[0092] (3-4) Calculate the maximum allowable engine speed n m according to the speed ratio of the determined G max gear by n max =b*v max *i m *i0 / r, where b is the engine speed calculation coefficient and i m is the speed ratio according to the determined transmission G m gear;

[0093] (4) Current gear position status judgment and control, comparing the current gear G of the transmission cur with the highest allowable gear G max , the control steps are as follows:

[0094] (4-1) If G cur ≤ G max , execute step (4-2), otherwise, the transmission control unit TCU performs a forced downshift and alarms the driver until G cur ≤ G max and then execute step (4-2);

[0095] (4-2) If G cur = G max , execute step (4-3) for speed limit control, otherwise G cur is less than G max and execute step (5-1);

[0096] (4-3) Compare and judge the actual vehicle speed v cur with the highest allowable vehicle speed v max , if v cur > v max , then execute step (5-2), otherwise v cur ≤ v max and execute step (4-4);

[0097] (4-4) Calculate the vehicle speed difference v del = v max - v cur , preset the speed limit control threshold v thd , this value is generally determined by experience, compare the vehicle speed difference v del with the speed limit control threshold v thd , if v del > v thd , execute step (5-1), otherwise execute step (5-2);

[0098] (5) Engine speed limit control, judge according to the engine speed limit requirement, and execute the engine speed limit control, the steps are as follows:

[0099] (5-1) Cancel the engine speed limit control and execute step (6);

[0100] (5-2) Execute the engine speed limit control, and the transmission control unit TCU sends the maximum allowable engine speed n max to the engine control unit ECU through the CAN network to achieve engine speed limit control, and execute step (6);

[0101] (6) Complete this gear and speed limit control, and repeat step (1).

[0102] Through the above system and method, the optimal speed limit control of port machine products can be realized, which can not only ensure the acceleration ability of the vehicle in low gear and low speed states, but also avoid vehicle speeding, improve operation efficiency and ensure operation safety.

[0103] Embodiment 4

[0104] Fourthly, a port machinery is provided, including the port machinery full-automatic transmission gear limit and speed limit control device described in the first aspect or the port machinery full-automatic transmission gear limit and speed limit control system described in the second aspect.

[0105] This application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of this application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0106] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0107] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0108] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can still be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A fully automatic gearbox limit gear and speed limit control method for port machinery, characterized in that, including: In response to receiving a request for limiting the speed of the whole vehicle, obtain the actual vehicle speed v of the whole vehicle cur , the current gear G of the gearbox cur and the preset maximum allowable vehicle speed v max ; According to the maximum allowable vehicle speed v max and the maximum vehicle speeds v mmax of the preset gear positions of the transmission, the maximum allowable gear position G max is determined, where v mmax is the maximum vehicle speed v m of the m-th gear position G mmax of the transmission, and m represents the total number of gear positions of the transmission; Compare the current gear G of the gearbox cur with the highest permitted gear G max ; In response to G cur >G max , issue an instruction to perform forced downshift control until G cur ≤G max ; In response to G cur = G max , issue an instruction to execute engine speed limit control; In response to G cur <G max , issue an instruction to cancel the engine speed limit control; wherein the engine speed limit control includes: According to the determined highest allowable gear G max , the maximum allowable engine speed n is calculated max ; Compare the actual vehicle speed v of the whole vehicle cur with the maximum allowable vehicle speed v max to obtain a vehicle speed comparison result, and issue a corresponding command to execute engine speed limit control according to the vehicle speed comparison result, including: In response to v cur > v max , issue an instruction to limit the engine speed to the maximum allowable engine speed n max ; In response to v cur ≤v max , the vehicle speed difference v del =v max -v cur , the vehicle speed difference v del is compared with the preset speed limit control threshold v thd . In response to v del >v thd , cancel the engine speed limit control; in response to v del ≤v thd , issue an instruction to limit the engine speed to the maximum allowable engine speed n max .

2. The fully automatic gearbox limit gear and speed control method for port machinery according to claim 1, characterized in that, According to the maximum allowable vehicle speed v max and the maximum vehicle speeds v of each gear of the preset gearbox mmax the maximum allowable gear G is determined, including: max , including: Obtain the preset gearbox G m The maximum vehicle speed v of the gear position mmax ; (3-1) Compare the maximum allowable speed v max with the maximum speed v 1max in the first gear. If v max ≤ v 1max , then G max is 1; otherwise, proceed to step (3-2) for judgment; (3 - 2) Compare v max with the maximum speed v 2max in second gear. If v max ≤ v 2max , then G max is 2; otherwise, proceed to step (3 - 3) for judgment. (3-3) Compare v max successively with the maximum vehicle speed v mmax of the lowest gear m of the remaining gears until v max ≤ v mmax is satisfied, and G max is m.

3. The fully automatic gearbox limit gear and speed control method for port machinery according to claim 1, wherein According to the determined highest allowable gear G max , the maximum allowable engine speed n max is calculated, including: n max = b * v max * i m * i0 / r; where b is the engine speed calculation coefficient; i m is the gear ratio of transmission gear G m , which is determined according to the highest allowable gear G max ; i0 is the drive shaft final drive ratio, and r is the wheel radius.

4. The full-automatic gearbox limit gear and speed limit control method for port machinery according to claim 1, characterized in that Obtain the actual vehicle speed v of the whole vehicle cur , including: Obtain the rotational speed n of the output shaft out , according to the rotational speed n of the output shaft out calculate the actual vehicle speed v of the whole machine cur ; Or, directly obtain the actual vehicle speed v of the whole vehicle cur .

5. The full-automatic gearbox limit gear and speed control method for port machinery according to claim 4, characterized in that, According to the rotational speed n of the output shaft out the actual vehicle speed v of the whole machine is calculated cur , including: v cur = a * n out * r / i0; where a is the vehicle speed calculation coefficient; i0 is the speed ratio of the drive shaft main reducer, and r is the wheel radius.

6. The fully automatic gearbox limit gear and speed control method for port machinery according to claim 1, wherein further including: In response to G cur > G max , an alarm instruction is issued to prompt the driver.

7. A fully automatic gearbox limit gear and speed limit control device for port machinery, characterized in that, including a memory and a processor, the memory is used to store instructions, and the instructions are used to control the processor to operate to execute the port machinery full-automatic transmission gear limit and speed limit control method according to any one of claims 1-6.

8. A fully automatic gearbox limit gear and speed limit control system for port machinery, characterized in that, including the port machinery full-automatic transmission gear limit and speed limit control device according to claim 7.

9. A port machinery, characterized in that, including the port machinery full-automatic transmission gear limit and speed limit control device according to claim 7 or the port machinery full-automatic transmission gear limit and speed limit control system according to claim 8.

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