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

doi:10.16183/j.cnki.jsjtu.2024.097

Abstract

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

CLC Number:

TM921

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.

Figures/Tables 12

Fig.1

Fig.2

Tab.1

Fig.3

Fig.4

Fig.5

Tab.2

Parameters of electric quay crane system

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

Tab.2

Fig.6

Tab.3

Fig.7

Tab.4

Tab.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