塔机群防碰撞避让算法的研究

为了防止同一施工工地中多台干涉塔机之间的相互碰撞,首先分别建立了等高塔机碰撞模型和高低塔机碰撞模型;然后在传统塔机群防碰撞算法上分别建立了等高塔机等待总时间最短和高低塔机的最迟干预智能避让算法;最后给出了塔机群防碰撞智能避让算法的具体实现方法.研究结果表明,通过采用该智能避让算法可以大幅度减少塔机群总体停机等待时间,有...     

轮胎式集装箱门式起重机“油改电”方案的探讨

就目前几种典型的轮胎式龙门起重机(简称RTG)油改电的模式加以分析比较,力求紧密联系实际,得出与不同集装箱码头相匹配的油改电方案。     

行车精确泊位测控装置设计

目的　控制行车自动准确地往返于两固定点间装货和卸货 .方法　用对射式红外光电传感器检测设置的遮光挡块 ,获得位置信号 .通过单片机控制及软件滤波技术来提高检测装置的性能 .结果　经实际使用 ,该装置泊位误差小于 2 cm,且抗干扰能力强 .结论　该装置使用无接触检测光电传感器 ,寿命长、故障率低、泊位精确     

基于遗传算法的状态监测信息关联规则挖掘

提出了基于遗传算法的量化并联规则方法,挖掘起重机状态监测信息数据库中的关联规则。利用该算法对部分数据进行关联规则挖掘,并对发现的规则进行了比较分析,认为关联则反映起重机的机械状态,为评估和预测其机械状态提供信息。     

800t/160t桥机安全防护措施

介绍了云南澜沧江小湾水电站800t／160t桥机的安全防护措施，并对其安全可靠性进行了简要分析。     

Nonlinear coordination control of offshore boom cranes with bounded control inputs

Offshore cranes are complicated underactuated systems, which work in harsh sea conditions. Due to the various severe disturbances, the control of offshore cranes has always been a great challenge, which is made even more complicated when considering some practical issues such as actuator saturation and coordination. Until now, few results have been published in the literature on this topic. To address this problem, an efficient nonlinear control method is proposed for offshore boom cranes suffering from both ship roll and heave motion in this paper, which takes full consideration of actuator saturation, as well as the coordination problem between actuators. Furthermore, regarding the various extra nonvanishing disturbances, such as winds, frictions, and unmodeled dynamics, a disturbance observer is designed to estimate and eliminate these uncertainties. The asymptotic stability of the desired equilibrium point is rigorously guaranteed by Lyapunov techniques and LaSalle's invariance theorem. Finally, extensive hardware experimental tests are carried out to demonstrate the feasibility and efficiency of the proposed method. To the best of our knowledge, this paper proposes the first method that considers the saturation and coordination problem for offshore cranes while guaranteeing the asymptotic stability of the desired equilibrium point.     

Improved energy dissipation control of overhead cranes

In this paper, an improved energy dissipation controller is presented for overhead cranes. Our main contribution is the characterization of overhead cranes for which energy shaping method yields a significant storage function, where a nonlinear coupling controller is delivered that drastically increases the damping of the control system. Additional terms are fabricated to assure a soft start and a limited overshoot. In the frame of the Lyapunov theory, we apply LaSalle's invariance principle to illustrate the corresponding stability. Such a controller is experimented and some results are reported.     

基于桥吊迁移的集装箱码头连续泊位分配算法研究

集装箱码头资源（包括泊位、桥吊、堆场等）的高效利用已经被深入研究很多年了, 然而对于泊位分配中桥吊分配的研究大多停留在静态分配最大数量桥吊上。为了弥补静态分配桥吊的不足, 第一次研究了基于两船之间桥吊迁移的泊位分配问题, 通过桥吊迁移的决策方法, 最终设计出了一个新的泊位分配算法。实验证实设计的算法能更好地提高码头作业效率, 表明了桥吊迁移在港口作业中的有效性。     

An investigation of slewing-crane dynamics during slewing motion—development and verification of a mathematical model

Information about the dynamic loading of a steel structure is important for its static design as well as for an assessment of its fatigue life. In the case of tower cranes, these loads are mainly caused by vibrations and load sway, which occurs as a result of the slewing motion of the jib around the vertical axis and from the radial movement of the load's suspension point. In this paper, only the slewing motion that produces the spatial motion of the pendulum is considered, because this kind of motion has received much less attention than the translation of the suspension point. In order to achieve this, a non-linear mathematical model of the load sway during the slewing motion was formulated, and the non-linear nature of the swinging motion for large angles and the non-linearity of the power transmission were considered. The structure's elasticity and damping, the friction in the main bearing, and the air resistance were also taken into account. The dynamic forces acting on the steel structure of the crane during payload transport were obtained. In order to confirm the mathematical model, an actual model of a crane was built and used as the basis for measurements. A comparison of the results shows good agreement between the predicted and the measured values.     

集装箱岸桥状态信号智能采集仪设计

在设计集装箱起重机状态信号的智能采集仪时，综合运用了单片机控制和集成电路技术，通过单片机控制电路，使得32路信号采集通道分时、有序、快速地完成对振动、应力两种不同信号的采集，并对信号作预处理，同时实时显示采集电路的状态信息。