基于模型预测控制的岸边集装箱起重机吊具防扭设计
Anti-twist Design of Quayside Container Crane Spreader Based on Model Predictive Control
管明星 1张锋锋2
作者信息
- 1. 同济大学机械与能源动力学院
- 2. 上海振华重工(集团)股份有限公司研究总院
- 折叠
摘要
远控自动化岸边集装箱起重机吊具系统准确快速定位是提升起重机效率的关键因素.以岸边集装箱起重机吊具悬垂系统为研究对象,提出一种基于模型预测控制的防扭控制方法.根据吊具系统转动运行特点,建立系统状态方程,设定二次规划问题的性能指标,求解开环优化问题并获得最优的控制序列.通过解决一个带约束的优化问题来求解最优控制输入,使得最优化控制序列与实际输入条件相匹配.仿真计算结果表明,这种方法能够有效的控制吊具的扭转角度,提升作业效率和稳定性.
Abstract
Accurate and fast positioning of remote-controlled automated quayside container crane spreader system is a key factor to improve the efficiency of crane.Taking the quayside container crane spreader overhanging system as the research object,an anti-twist control method based on model predictive control is proposed.According to the rotational operation characteristics of the spreader system,the system state equation is established,the performance index of the quadratic programming problem is set,and the open-loop optimization problem is solved and the optimal control sequence is obtained.The optimal control input is solved by solving an optimization problem with constraints,so that the optimal control sequence matches the actual input conditions.Simulation results show that this method can effectively control the twist angle of the spreader and improve the operational efficiency and stability.
关键词
自动化/岸边集装箱起重机/吊具防扭/模型预测控制Key words
automation/quayside container crane/spreader anti-twist/model predictive control引用本文复制引用
基金项目
上海市科委科研项目(23XD1434500)
上海振华重工科研项目(9908000302)
出版年
2024
NETL
NSTL
万方数据