基于带三参数的类四次贝塞尔曲线的起重机转弯非圆轨道优化  

Optimization of non-circular rail for crane turning based on quasi quartic Bezier curve with three parameters

作　　者：梁岗[1] 吴章杰 於伟坤 LIANG Gang;WU Zhangjie;YU Weikun(Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China;Shanghai Zhenhua Heavy Industry Co. , Ltd. , Shanghai 200125, China)

机构地区：[1]上海海事大学物流工程学院,上海201306 [2]上海振华重工(集团)股份有限公司,上海200125

出　　处：《上海海事大学学报》2021年第1期112-118,共7页Journal of Shanghai Maritime University

摘　　要：为解决有轨起重机在转弯时出现的啃轨、卡轨问题,提出基于贝塞尔曲线的起重机非圆轨道设计方案。方案选用带三参数的类四次贝塞尔曲线作为转弯内轨曲线,针对起重机单轮和多轮情况,通过起重机大车行走机构的几何关系计算出外侧前、后点的轨迹。以大车外侧前、后点偏差量最小为优化目标,利用多始点启发式全局优化算法搜寻最优的曲线参数,并通过Hermite插值法拟合出外轨曲线。计算结果表明,与传统圆弧转弯轨道相比,以四次贝塞尔曲线作为转弯轨道曲线时起重机在转弯时外侧前、后点最大偏差量明显减小。以带三参数的类四次贝塞尔曲线作为内轨曲线时,可通过改变三参数数值来调整曲线,从而进一步降低偏差量。In order to solve the problems that the rail crane gnaws on the rail and is jammed in the rail during turning,a non-circular rail design scheme of the crane based on Bezier curve is proposed.In the scheme,the quasi quartic Bezier curve with three parameters is chosen as the turning curve of the inner rail.According to the single wheel and multi-wheel situation of the crane,the tracks of the front and rear points on the outer side are calculated through the geometric relationship of the traveling mechanism of the crane cart.Taking the minimum deviation of the front and rear points on the outside of the cart as the optimization objective,the optimal parameters of the curve are searched by the multi-start point heuristic global optimization algorithm,and the outer rail curve is fitted by Hermite interpolation.The calculation results show that,the maximum deviation of the front and rear points on the outside of the cart decreases significantly when the quartic Bezier curve is used as the turning rail curve compared with the traditional circular turning rail.When the quasi quartic Bezier curve with three parameters is used as the inner rail curve,the deviation can be further reduced by adjusting the three parameters.

关 键 词：有轨起重机 贝塞尔曲线 偏差量 全局优化算法 

分 类 号：U653.921[交通运输工程—港口、海岸及近海工程]