基于样条插值和差分进化算法的卸船机抓斗装卸轨迹优化
朱学岩 1田强 1连泽伟 1孙福1
作者信息
- 1. 太重(天津)滨海重型机械有限公司技术中心 天津 300450
- 折叠
摘要
随着物流行业的兴盛,卸船机作为港口机械的重要组成部分,其作业效率对港口物流有着重要的影响.卸船机装卸轨迹规划是港口装卸系统中的重要环节,对经过规划后的轨迹进行合理优化,是确保卸船机在抓取货物后,并满足各种约束条件下,安全、高效的卸载货物的重要一环.文中通过对卸船机卸装轨迹实际作业情况的分析,总结现有轨迹存在的问题,并采用样条插值法规划路径,使整体路径更平滑,可降低作业时的抖振.使用差分进化算法对轨迹进行优化,优化后的轨迹比优化前单次作业效率提高5.02%,优化后的轨迹在作业空间、时间方面均有提升.
Abstract
With the development of logistics industry,ship unloader is an important part of port machinery,and its working efficiency has a great influence on port logistics.Loading and unloading trajectory planning of ship unloader is an important link in port loading and unloading system.Reasonable optimization of the planned trajectory is an important link to ensure that the ship unloader can unload the goods safely and efficiently after grabbing the goods and satisfying different constraint conditions.Based on the analysis of the actual operation of the ship unloader under the unloading trajectory,problems existing in the existing trajectory were summarized.Spline interpolation was used to plan the path,which makes the whole path smoother and reduces the chattering during operation.Then differential evolution algorithm was adopted to optimize the trajectory,and the optimized trajectory was 5.02%more efficient than the single operation before optimization.The optimized trajectory showed improvement both in working space and time.
关键词
卸船机/装卸/轨迹优化/样条插值/差分进化算法Key words
ship unloader/loading and unloading/trajectory optimization/spline interpolation/differential evolution algorithm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