RTG大车自动纠偏系统设计和纠偏策略  

Automatic deviation correction system design and deviation correction strategy for RTG cart

作　　者：杨阳 王宝磊 韩佳琦 YANG Yang;WANG Baolei;HAN Jiaqi(Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China)

机构地区：[1]上海海事大学物流工程学院,上海201306

出　　处：《上海海事大学学报》2021年第1期107-111,共5页Journal of Shanghai Maritime University

基　　金：国家自然科学基金(71701126)。

摘　　要：针对传统集装箱码头轮胎式龙门起重机(rubber-tyred gantry crane,RTG)大车在直线行驶过程中产生横向偏移的问题,提出一种RTG大车速度差自动纠偏方法。该方法通过磁尺传感器采集RTG大车横向偏移距离和偏移角,建立RTG大车横向偏移数学模型。基于最优控制理论构建运行性能指标函数,推导出最优控制矩阵的黎卡提方程并采用线性二次型最优控制方法求解。引入惯性、加减速、PLC延迟等干扰进行Simulink仿真,得到最终解。在现场调试中,PLC根据该代数解完成RTG大车行驶自动纠偏。研究结果表明:大车横向偏移距离保持在30 mm内,实际运行效果理想,达到RTG大车自动纠偏目的。To solve the rubber-tyred gantry crane(RTG)cart transverse deviation problem in the straight-line driving,a method of automatic deviation correction for RTG cart velocity difference is proposed.Based on the data of transverse deviation displacement and deviation angle collected by the magnetic ruler sensor,the mathematical model of the RTG cart transverse deviation is established.The operational performance index function is constructed based on the optimal control theory,and the Riccati equation of the optimal control matrix is derived and solved by the linear quadratic optimal control method.The Simulink simulation is carried out to obtain the final solution,where the interference of inertia,acceleration,deceleration and PLC delay is introduced.In the field experiment,the PLC automatically corrected the RTG cart travelling deviation according to the algebraic solution.The results show the RTG cart transverse deviation displacement is kept within 30 mm,the actual operation effect is ideal,and the purpose of automatic deviation correction is achieved.

关 键 词：轮胎式龙门起重机(RTG) 速度差自动纠偏 最优控制理论 黎卡提方程 

分 类 号：U653.921[交通运输工程—港口、海岸及近海工程] TP27[交通运输工程—船舶与海洋工程]