Anti-twist Design of Quayside Container Crane Spreader Based on Model Predictive Control
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.
automationquayside container cranespreader anti-twistmodel predictive control
NETL
NSTL
万方数据
