港口电动岸桥运行轨迹规划及其路径功率优化控制

doi:10.16183/j.cnki.jsjtu.2024.097

上海交通大学学报 ›› 2026, Vol. 60 ›› Issue (2): 300-310.doi: 10.16183/j.cnki.jsjtu.2024.097

• 新型电力系统与综合能源 • 上一篇下一篇

港口电动岸桥运行轨迹规划及其路径功率优化控制

楼佳辉¹, 黄文焘²(), 杨欢红¹, 余墨多², 杨亚宇³

1 上海电力大学电气工程学院,上海 200090
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,上海 200240
3 上海海事大学物流工程学院,上海 200135

收稿日期:2024-03-21 修回日期:2024-04-25 接受日期:2024-06-13 出版日期:2026-02-28 发布日期:2026-03-06
通讯作者: 黄文焘 E-mail:hwt8989@sjtu.edu.cn.
作者简介:楼佳辉(1998—),硕士生,现主要从事港口综合能源研究.
基金资助:
国家自然科学基金(52337006)

Operation Trajectory Planning and Path Power Optimization Control of Electric Quay Crane in Ports

LOU Jiahui¹, HUANG Wentao²(), YANG Huanhong¹, YU Moduo², YANG Yayu³

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

Received:2024-03-21 Revised:2024-04-25 Accepted:2024-06-13 Online:2026-02-28 Published:2026-03-06
Contact: HUANG Wentao E-mail:hwt8989@sjtu.edu.cn.

摘要/Abstract

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,对此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,减少电动岸桥路径功率损失.在MATLAB上建立仿真算例,结果表明在不同工作条件下,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:

To address the issues of high peak power demand and low energy conversion efficiency in electric quay cranes at ports, a method for trajectory planning and path power optimization control of electric quay cranes is proposed. The energy coupling conversion relationship and operational characteristics of electric quay cranes are analyzed, from which the dynamic equation is derived. Considering the environmental constraints during the working process of electric quay cranes, a B-spline curve is used to design the operation trajectory of electric quay cranes. The relationship between path power transmission and conversion of electric quay cranes is analyzed, and in combination with the system dynamics, a quantitative description relationship between the operating trajectory and path power is determined, forming an electric quay crane trajectory-power model. The trajectory of electric quay cranes is optimized with the objective of minimizing total electricity consumption, which results in a reduction of path power loss. Simulation examples are established in MATLAB, and the method proposed shows significant improvements in the path power optimization control of electric quay cranes under different working conditions, demonstrating its effectiveness and reliability.

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

中图分类号:

TM921

楼佳辉, 黄文焘, 杨欢红, 余墨多, 杨亚宇. 港口电动岸桥运行轨迹规划及其路径功率优化控制[J]. 上海交通大学学报, 2026, 60(2): 300-310.

LOU Jiahui, HUANG Wentao, YANG Huanhong, YU Moduo, YANG Yayu. Operation Trajectory Planning and Path Power Optimization Control of Electric Quay Crane in Ports[J]. Journal of Shanghai Jiao Tong University, 2026, 60(2): 300-310.

图/表 12

图1

图2

表1

图3

图4

图5

表2

电动岸桥系统参数

类型	参数	取值
基础参数	a_m/m	2
	a_s/m	2
	b_m/m	2
	b_s/m	2
	L_max/m	20
	X_l/m	20
	h_end/m	12
	X_end/m	26
	M/t	20
	g/(kg·m^-2)	9.8
摩擦相关系数	f_x	15.05
	f_x₁	2.15
	f_l₀	4
	f_l₁	1.2
	ε	0.01
约束值	$v x m a x$ /(m·s^-1)	0.5
	$v l m a x$ /(m·s^-1)	0.5
	$a x m a x$ /(m·s^-2)	0.25
	$a l m a x$ /(m·s^-2)	0.25
	$j x m a x$ /(m·s^-3)	0.2
	$j l m a x$ /(m·s^-3)	0.2
	θ^max/rad	0.005
	$θ · m a x$ /(rad·s^-1)	0.015
	t^max/s	150
	P_d/kW	300
功率传输效率	η_g	0.8
	η_R	0.8

表2

图6

表3

图7

表4

表5

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关键路径点	含义	关键路径点配置规则
P₁	竖直运动起始点	由目标集装箱起始位置A决定:X₁、Y₁(已知)
P₂	水平运动起始点	考虑运输过程安全和稳定:X₂=X₁、Y₂ =max{Y₁+b_s, h_v+b_m+b_s}
P₃	竖直运动终止点	受装卸环境约束:X₃ =X_n-a_m、Y₃=max{H_max, h_end, h_v}+b_m+b_s
P₄	竖直运动起始点	受装卸环境约束:X₄ =X_l、Y₄ =Y₃
P₅	水平运动终止点	考虑运输过程安全和稳定:X₅=X₆、Y₅=Y₆+b_s
P₆	竖直运动终止点	由目标集装箱结束位置D决定:X₆=X_end,Y₆=h_end

算例	起始位置	m/t	W/(kW·h)		总用电量对比/%	t_a/s
算例	起始位置	m/t	本文方法	多项式曲线法	总用电量对比/%	t_a/s
1	A	20	1.63	1.74	-6.32	91.1
2	B	20	0.78	0.83	-6.02	77.2
3	C	20	2.20	2.35	-6.38	74.6
4	A	30	2.04	2.15	-5.11	95.1
5	A	10	1.32	1.39	-5.04	87.6

算例	工作模式	起始位置	m/t	耗电量/(kW·h)	回收电量/(kW·h)	W/(kW·h)	t_a/s
6	节能	A	20	2.02	0.39	1.63	91.1
7	省时	A	20	2.16	0.37	1.79	81.8

算例	方案	m/t	耗电量/(kW·h)	回收电量/(kW·h)	W/(kW·h)	t_all/s
8	1	20	56.42	7.78	48.64	2736
9	2	20	60.56	7.27	53.29	2506

港口电动岸桥运行轨迹规划及其路径功率优化控制

Operation Trajectory Planning and Path Power Optimization Control of Electric Quay Crane in Ports

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