| RTG大车自动纠偏系统设计和纠偏策略 |
| |
| 引用本文： | 杨阳,王宝磊,韩佳琦.RTG大车自动纠偏系统设计和纠偏策略[J].上海海事大学学报,2021,42(1):107-111. |
| |
| 作者姓名： | 杨阳 王宝磊 韩佳琦 |
| |
| 作者单位： | 上海海事大学,上海海事大学,上海海事大学 |
| |
| 基金项目： | 国家自然科学基金（71701126） |
| |
| 摘 要： | 针对传统集装箱码头轮胎式龙门起重机(rubber-tyred gantry crane,RTG)大车在直线行驶过程中产生横向偏移的问题,提出一种RTG大车速度差自动纠偏方法。该方法通过磁尺传感器采集RTG大车横向偏移距离和偏移角,建立RTG大车横向偏移数学模型。基于最优控制理论构建运行性能指标函数,推导出最优控制矩阵的黎卡提方程并采用线性二次型最优控制方法求解。引入惯性、加减速、PLC延迟等干扰进行Simulink仿真,得到最终解。在现场调试中,PLC根据该代数解完成RTG大车行驶自动纠偏。研究结果表明:大车横向偏移距离保持在30 mm内,实际运行效果理想,达到RTG大车自动纠偏目的。
|
| 关 键 词： | 轮胎式龙门起重机(RTG) 速度差自动纠偏 最优控制理论 黎卡提方程 |
| 收稿时间： | 2019/11/11 0:00:00 |
| 修稿时间： | 2020/8/18 0:00:00 |
Automatic deviation correction system design and deviation correction strategy for RTG cart |
| |
| YANG yang,wangbaolei and HAN Jiaqi.Automatic deviation correction system design and deviation correction strategy for RTG cart[J].Journal of Shanghai Maritime University,2021,42(1):107-111. |
| |
| Authors: | YANG yang wangbaolei and HAN Jiaqi |
| |
| Institution: | Shanghai Maritime University,Logistics Engineering College and Logistics Engineering College |
| |
| Abstract: | To solve the rubber tyred gantry crane (RTG) cart transverse deviation problem in the straight line driving, a method of automatic deviation correction for RTG cart velocity difference is proposed. Based on the data of transverse deviation displacement and deviation angle collected by the magnetic ruler sensor, the mathematical model of the RTG cart transverse deviation is established. The operational performance index function is constructed based on the optimal control theory, and the Riccati equation of the optimal control matrix is derived and solved by the linear quadratic optimal control method. The Simulink simulation is carried out to obtain the final solution, where the interference of inertia, acceleration, deceleration and PLC delay is introduced. In the field experiment, the PLC automatically corrected the RTG cart travelling deviation according to the algebraic solution. The results show the RTG cart transverse deviation displacement is kept within 30 mm, the actual operation effect is ideal, and the purpose of automatic deviation correction is achieved. |
| |
| Keywords: | rubber tyred gantry crane (RTG) automatic deviation correction for velocity difference optimal control theory Riccati equation |
| 本文献已被 维普 等数据库收录！ |
| 点击此处可从《上海海事大学学报》浏览原始摘要信息 |
| 点击此处可从《上海海事大学学报》下载免费的PDF全文 |
|
