上海交通大学学报

上海交通大学学报

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港口电动岸桥运行轨迹规划及其路径功率优化控制（网络首发）

  

  1. 1. 上海电力大学电气工程学院；2. 上海交通大学电力传输与功率变换控制教育部重点实验室；3. 上海海事大学物流工程学院
  • 基金资助:
    国家自然科学基金委重点基金52337006

Operation trajectory planning and power optimization control of electric quay crane in port

  1. （1. College of Electrical Engineering, Shanghai University of Electric Power, 200090, Shanghai, China；2. Key Laboratory of Control of Power Transmission and Conversion (Ministry of Education), Shanghai Jiao Tong University, 200240, Shanghai, China；3. Logistics Engineering College, Shanghai Maritime University, 200135, Shanghai, China）

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摘要： 港口电动岸桥存在峰值功率高、能量转换效率低的问题，本文提出一种电动岸桥运行轨迹规划及其路径功率优化控制方法。分析电动岸桥能量耦合转换关系及运行特性，推导电动岸桥动力学方程。考虑电动岸桥工作过程环境约束，设计电动岸桥运行轨迹的B样条曲线。分析电动岸桥功率传输与转换关系，结合动力学特性，确定运行轨迹和路径功率之间定量描述关系，建立电动岸桥轨迹-功率模型。以总用电量最低为目标，优化电动岸桥运行轨迹，实现电动岸桥路径功率损失减少。在matlab上建立仿真算例，在不同工作条件下，所提方法对电动岸桥路径功率优化控制效果均有显著提升，验证了该方法的有效性和可靠性。

关键词: 电动岸桥, 轨迹规划, B样条曲线, 路径功率, 优化控制

Abstract: There are problems with high peak power and low energy conversion efficiency in electric quay cranes at ports. This paper proposes a method for trajectory planning and power optimization control of electric quay cranes. The energy coupling conversion relationship and operation characteristics of electric quay cranes are analyzed, and a dynamic equation of electric quay cranes is derived. Considering the environmental constraints of the working process of electric quay cranes, a B-spline curve for the trajectory of electric quay cranes is designed. Analyzing the relationship between power transmission and conversion of electric quay cranes, combining with dynamic characteristics, determining a quantitative description relationship between operating trajectory and path power, and establishing an electric quay crane trajectory-power model. With the goal of minimizing total electricity consumption, the trajectory of electric quay cranes is optimized to reduce power loss. Simulation examples are established in matlab, and the proposed method significantly improves the power optimization control of electric quay cranes under different working conditions, verifying the effectiveness and reliability of the method.

Key words: electric quay crane, trajectory planning, B spline curve, path power, optimization control

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