【摘要】 通过对物流集装箱起重机的作业过程进行分析,基于最优控制原理,建立了实现物流集装箱起重机运行的最优控制模型。方法通过拉格朗日方程建立物流集装箱起重机的动力学模型,采用状态方程描述整个系统,基于最优控制原理得到了实现物流集装箱起重机运行最优控制的必要条件,结果对采用最优控制和未采用最优控制两种情况下物流集装箱起重机的运行过程进行了仿真,得到了物流集装箱运行的最优轨线和最优控制力矩,相对未采用最优控制,物流集装箱起重机的工作效率得到很大的提高。更多还原

【Abstract】 By analyzing the logistics container crane operation process, based on the optimal control theory the optimal control model of the operation of logistics container crane is developed The dynamic model is established by using the Lagrange equations, and the system is described with state equations, the necessary conditions for optimal control are reached. Simulations are carried out and the optimal trajectories and the optimal torques are calculated. The results show that the efficiency of the logistics container crane is enhanced by applying optimal control with comparison to the uncontrolled container crane operation process.更多还原