基于模型预测控制的岸边集装箱起重机吊具防摇方法
李万莉 1管明星2
作者信息
- 1. 同济大学 上海 201800
- 2. 上海振华重工(集团)股份有限公司 上海 200125
- 折叠
摘要
自动化远控岸边集装箱起重机是应用在码头前沿的主力设备,设备效率直接影响了码头的运营能力,其中吊具系统准确快速定位是起重机提升起吊效率的关键因素.文中以岸边集装箱起重机吊载运行小车为研究对象,提出了一种基于模型预测控制(Model Predictive Control,MPC)的防摇控制方法.根据岸边集装箱起重机小车吊载运行的特点,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.与传统的控制方法相比,该方法是一种在线循环控制算法,具有较强的抗干扰能力.同时将约束条件直接嵌入最优化控制序列求解当中,使最优化控制序列与实际输入条件相匹配.通过仿真计算结果表明,该方法能迅速控制吊具的摇摆幅度,有效提升起升作业效率,同时也能满足不同工况下控制的稳定性要求.
Abstract
The automatic remote control quayside container crane is the main equipment used in the front of the wharf,and its efficiency directly affects the operation capacity of the wharf,in which the accurate and rapid positioning of the spreader system is the key factor affecting the hoisting efficiency of the crane.An anti-sway control method based on model predictive control(MPC)is proposed by taking the crane traveling trolley as the research object.According to the characteristics of loading operation of quayside container crane trolley,a system state equation was established,and the performance index of quadratic programming problem was set.Then,the open-loop optimization problem was solved and the optimal control sequence was obtained.Compared with the traditional control method,this method is an online loop control algorithm with strong anti-interference ability.Meanwhile,the constraint conditions were directly embedded in the solution of the optimal control sequence,so that the optimal control sequence matched the actual input conditions.The simulation results show that this method can quickly control the swing amplitude of the spreader,effectively improve the hoisting efficiency,and also meet the stability control requirements under different working conditions.
关键词
自动化码头/岸边集装箱起重机/吊具防摇/模型预测控制Key words
automated wharf/Shore container crane/Anti-sway of spreader/Model predictive control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
万方数据