摘要
码头堆场集装箱龙门起重机防摇摆控制中,主要使用Zigeel-Nihclos临界比例法定位控制速度曲线,易受控制动力学方程不平衡作用影响,导致控制重物摆角过高,因此,提出一种基于GA优化PID整定的码头堆场集装箱龙门起重机防摇摆控制方法。即进行可变速度补偿,生成龙门起重机模型作业摇摆示意图,构建控制动力学方程;定位集装箱龙门起重机防摇摆运动速度曲线,基于GA优化PID整定设计起重机防摇摆控制算法,完成了码头堆场集装箱龙门起重机防摇摆控制。实验结果表明,所提方法应用后,在不同时间下的控制重物摆角始终较低,未出现过限摆动幅度,具有控制负载适配性。
In the anti sway control of container gantry cranes in terminal yards,the Zigel Nihklos critical proportional method is mainly used to locate and control the speed curve,which is easily affected by the imbalance of control dynamics equations,resulting in excessively high control weight swing angles.Therefore,a GA optimized PID tuning based anti sway control method for terminal yard container gantry cranes is proposed.Perform variable speed compensation,generate a swing diagram of the gantry crane model operation,and construct control dynamics equations;The anti sway motion speed curve of the container gantry crane was located,and the anti sway control algorithm of the crane was designed based on GA optimization PID tuning.The anti sway control of the container gantry crane in the dock yard was completed.The experimental results show that after the application of the proposed method,the controlled weight swing angle remains low at different times,and there is no excessive swing amplitude,demonstrating the adaptability of load control.
作者
谢斌
Xie Bin(Terminexus(Shanghai)Co.,Ltd.,Shanghai 200125,China)
出处
《机械管理开发》
2025年第12期254-257,共4页
Mechanical Management and Development
