【作者】 李林；

【导师】 王林； 刘珧；

【作者基本信息】 上海交通大学 ， 控制工程， 2012， 硕士

【摘要】 抓斗式卸船机作为目前现代物流的关键装备，广泛的用于散货码头的运输生产作业中，然而在卸船机的运输过程中，由于小车的加减速以及风力等扰动引起的负载晃动，不但增加了事故发生的概率，而且严重影响了生产作业效率的提高。虽然依靠卸船机操作员的实际操作经验可以实现货物的安全运输和定位卸货，但是由于熟练起重机操作员的训练周期长和工作强度大等原因，使得工作效率的提高受到很大限制，因此非常有必要开发抓斗卸船机的自动控制系统，解决对操作员经验的过分依赖性，即原来由人工操作的抓斗在船舱外的所有运行全部采用自动控制，仅舱内的作业考虑其复杂性保留了人工操作，这就是港口行业俗称的半自动作业。桥式起重机自动控制系统的核心问题就是负载的防摇控制，而防摇控制最重要的是建立小车吊重系统精确的数学模型。近些年来，有关桥式起重机的定位和防摇控制的研究已引起了人们很大的兴趣，很多学者在此方面作了大量研究，主要的方法是在现有开环控制的基础上，提出考虑控制精度因素的闭环控制结构，推广一些模糊控制理念。本文则根据桥式起重机抓斗的运行受力分析,应用最优控制理论,分别得出了起重机的水平运行规律与运行距离控制的最优时间控制方法，以及抓斗的摆动规律和不需要检测角度的消摆控制的最优时间控制方法，建立了起重机水平运行与抓斗摆动关系的数学模型，并将模型通过实验验证后，用于马迹山抓斗式卸船机上。抓斗卸船机防摇控制系统由宝钢股份运输部牵头研制开发，研发人员克服没有现成模板及试验风险大等困难，将实验验证的模型，转化成为计算机语言进行编程，成功开发了抓斗式卸船机半自动作业自动控制系统。该系统于2010年10月份投运,并进行为期二个月的功能考核,运行至今系统性能稳定、操作便捷、维护方便、安全高效,并符合功能设计规格书的要求,其结果已经达到了用户预期目标,满足了用户业务需求。软件开发符合验收标准。更多还原

【Abstract】 Grab ship unloader as the modern logistics key equipment, widely usedfor bulk cargo terminal transportation production, however the unloadertransport process, because the vehicle deceleration and wind disturbancecaused by load sway, not only increases the probability of accidents, but alsoseriously affected the production efficiency improve. Although rely on shipunloading machine operator experience in the actual operation can achievethe safety of goods transport and positioning unloading, but because the skillcrane operator training cycle is long and the intensity of work and otherreasons, the work efficiency is very limited, so it is very necessary to developa grab bucket ship unloader automatic control system, settling on operatorexperience excessive dependence, using a semi-automatic mode of operation,namely, grab in the cabin and run the full automatic control is adopted,thereby greatly improving the work efficiency.Bridge crane control system is the core of the load ’s anti-swingcontrol, while the anti-swing control of the most important is theestablishment of the trolley-load system mathematical model. In recent years,the overhead traveling crane positioning and anti-swing control research hasattracted much interest, many scholars have done much research, the mainmethod is to input shaping control open loop control[1], gain control[3], statefeedback[7][8], fuzzy control[2][4][5][6]. According to the operation of overhead traveling crane grab stress analysis, using the optimal control theory, thepaper crane horizontal moving rule and running distance control optimal timecontrol method, and grab swing rule and need not detect angle anti-swaycontrol of optimal time control method, establishes crane horizontalmovement and grab swing relationship mathematical model, and the model isverified by experiments, for Majishan grab bucket ship unloader.Grab ship unloader anti sway control system by Baosteel TransportMinistry of research and development, research and development staff toovercome the no ready-made template and test high risk and difficult, theexperimental verification of the model, into the computer programminglanguage, the successful development of grab ship unloader semi-automaticaction industry automatic control system. The system put into operation in2010October, and for a period of two months of function evaluation,operation has stable system performance, convenient operation, convenientmaintenance, safety and high efficiency, and meets the design specifications,the results have reached the expected target of users, to meet user demand forservice. Software development with the acceptance criteria.更多还原