上海交通大学学报

上海交通大学学报 >

2026 , Vol. 60 >Issue 2: 300 - 310

DOI: https://doi.org/10.16183/j.cnki.jsjtu.2024.097

新型电力系统与综合能源

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 ,
  • 黄文焘 ,
  • 杨欢红 ,
  • 余墨多 ,
  • 杨亚宇
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  • 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
楼佳辉(1998—),硕士生,现主要从事港口综合能源研究.
黄文焘,教授,博士生导师;E-mail:hwt8989@sjtu.edu.cn.

收稿日期: 2024-03-21

  修回日期: 2024-04-25

  录用日期: 2024-06-13

  网络出版日期: 2024-06-18

基金资助

国家自然科学基金(52337006)

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

  • LOU Jiahui ,
  • HUANG Wentao ,
  • YANG Huanhong ,
  • YU Moduo ,
  • YANG Yayu
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  • 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 date: 2024-03-21

  Revised date: 2024-04-25

  Accepted date: 2024-06-13

  Online published: 2024-06-18

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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,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

本文引用格式

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 . DOI: 10.16183/j.cnki.jsjtu.2024.097

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

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