基于栅格法的钢厂无人天车调度系统  

Unmanned Crane Dispatching System Based on Grid Method in Steel Works

作　　者：李维刚 王肖[1] 赵云涛 李梓响 Li Weigang;Wang Xiao;Zhao Yuntao;Li Zixiang(Engineering Research Center for Metallurgical Automation and Detecting Technology of Ministry of Education,Wuhan University of Science and Technology,Wuhan 430081,China;National-provincial Joint Engineering Research Center of High Temperature Materials and Lining Technology,Wuhan University of Science and Technology,Wuhan 430081,China;Key Laboratory of Metallurgical Equipment and Control Technology,Wuhan University of Science and Technology,Wuhan 430081,China)

机构地区：[1]武汉科技大学冶金自动化与检测技术教育部工程研究中心,湖北武汉430081 [2]武汉科技大学高温材料与炉衬技术国家地方联合工程研究中心,湖北武汉430081 [3]武汉科技大学冶金装备及其控制教育部重点实验室,湖北武汉430081

出　　处：《系统仿真学报》2020年第4期687-699,共13页Journal of System Simulation

基　　金：国家自然科学基金(51774219);东北大学轧制技术及连轧自动化国家重点实验室开放课题(2017RALKFKT004)。

摘　　要：为解决钢厂无人天车自动调度问题,利用栅格法建模。提出了一种改进的A*算法,对库房各路段和天车不同的移动方式赋予不同的移动代价,计算出总代价最小,并能规避障碍物的板坯调运线路;为了解决人工操作天车效率低的问题,设计了一套智能调运规则,可有效处理调运过程中可能出现的天车冲突、紧急不可用,以及天车之间、天车与平板车之间相互配合等问题,最终生成天车及相关设备的调运指令。仿真实验结果及现场应用表明了上述方法的可靠性和高效性。A grid method is used to model a storeroom to solve the problem of the unmanned crane automatic scheduling of the iron and steel industry. An improved A* algorithm is proposed to make the path planning. Different moving costs are assigned for the different route sections in storeroom and the different moving modes of cranes, and the path with the minimum total cost which can avoid the slab obstacles alongside is calculated by the algorithm. A set of intelligent dispatching rules are designed to solve the inefficiency of the manual operation, which can effectively deal with the problems about the collision, emergency unavailability during the dispatch and the cooperation between the cranes as well as the crane and the flatbed truck. The dispatching instructions for the cranes and the other dispatching equipment can be generated. The simulation results and applications in the field show that the method is reliable and efficient.

关 键 词：无人天车 栅格法 改进A*算法 调运规则 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]