Integrated mathematical optimisation approach for the tower crane hook routing problem to satisfy material demand requests on-site

Optimising decisions around the location and operation of tower cranes can improve the workflow in construction projects. Traditionally, the location and allocation problems involved in tower crane operations in the literature have been solved separately from the assignment of material supply points to demand points and the scheduling of the crane’s activity sequence across supply and demand points on a construction site. To address the gap, this paper proposes a binary integer programming problem, where location of the tower crane, allocation of supply points to material-demanding regions, and routing of hook of the crane based on activity sequencing of the hook across supply and material-demanding regions on site are optimised. The novelty in this work is in the way the crane’s activity scheduling is modelled via mathematical programming, based on routing the hook movement to meet material demand, through minimising tower crane operating costs. A realistic case study is solved to assess the validity of the model. The model is contrasted with results obtained from other solving algorithms commonly adopted in the literature, along with a solution proposed by an experienced practitioner. Results indicate that all instances can be solved when compared to other meta-heuristics that fail to achieve an optimum solution. Compared to the solution proposed by the practitioner, the results of the proposed model achieve a 46% improvement in objective function value. Planners should optimise decisions related to the location of the crane, the crane’s hook movement to meet service requests, and supply points’ locations and assignment to material-demanding regions simultaneously for effective crane operations.     

吊车钢丝绳非线性谐振建模及消谐控制

对于欠驱动吊车而言, 已有的方法都只考虑如何消除摆角. 然而当钢丝绳的摆角很小时, 钢丝绳上可能仍 然会存在严重的谐振. 针对吊车的消谐问题, 本文率先提出了一种基于钢丝绳–电机轴的非线性谐振力矩模型. 具体而言, 先利用振动力学的方法, 建立了非线性谐振力矩模型, 该模型可以将钢丝绳上的非线性谐振力矩归算到电机轴上, 然后通过电机控制器调节电机的输出力矩, 使得电机输出的基波主力矩上叠加一个大小相等方向相反的非线 性谐振力矩, 以达到消除钢丝绳上的谐振力矩的目的. 最后通过Simulink仿真和实验证明该方法具有良好的控制性 能, 不仅可以有效消除钢丝绳上的谐振, 并且能进一步减小摆角.     

双伸位堆垛机系统调度的优化设计

以某机务段段修配件自动化立体仓库(AS/RS)为例,通过分析影响双伸位堆垛机系统运作的重要因素,提出一种基于作业时间最短的优化设计,建立相应的数学模型,并采用分区平均搜索初始种群的遗传算法对其进行验证。结果证明该优化设计有利于提高双伸位堆垛机AS/RS系统的运作效率。     

桥式起重机精准定位在线轨迹规划方法设计及应用

针对工业桥式起重机的异步电机难以准确跟踪给定轨迹,从而导致离线轨迹规划算法定位误差很大的问题,论文提出一种基于相平面分析的在线轨迹规划算法.这种方法利用激光测距仪采集位置信息,在起重机运行过程中,根据台车与目标位置的距离来优化轨迹不同阶段的运行时间,并实时调整台车轨迹的有关参数,以实现台车精准定位的目标.实验结果表明,这种方法可以很好地兼顾负载快速消摆与台车准确定位两方面的要求,有利于提升桥式起重机的运送效率.论文将这种在线轨迹规划方法成功应用于标准32 t工业桥式起重机,并取得了良好的运行效果.     

Vibration control of load for rotary crane system using neural network with GA-based training

A neuro-controller for vibration control of load in a rotary crane system is proposed involving the rotation about the vertical axis only. As in a nonholonomic system, the vibration control method using a static continuous state feedback cannot stabilize the load swing. It is necessary to design a time-varying feedback controller or a discontinuous feedback controller. We propose a simple three-layered neural network as a controller (NC) with genetic algorithm-based (GA-based) training in order to control load swing suppression for the rotary crane system. The NC is trained by a real-coded GA, which substantially simplifies the design of the controller. It appeared that a control scheme with performance comparable to conventional methods can be obtained by a relatively simple approach. This work was presented in part at the 13th International Symposium on Artificial Life and Robotics, Oita, Japan, January 31–February 2, 2008     

基于解耦控制的同步传动技术的应用研究

对龙门移动式镗铣床同步传动不一致性问题进行研究,用两台直线电机作为龙门柱纵向进给的传动机构,分析了扰动与输出之间存在的耦合,设计出一种解耦控制器,并用龙门框架不平行时所产生的应力变化进行补偿。仿真结果表明,系统性能良好,并能快速实现同步运行。     

新疆开都河小山口二级水电站吊车梁设计

水电站厂房的吊车主要用于吊装水轮机与发电机。承受吊车荷载的吊车梁是厂房上部承重的重要结构之一,必须严格按照要求进行设计,以保证吊车梁的质量和使用效果。采用理正结构求解器对新疆开都河小山口二级水电站吊车粱进行了设计和结构计算分析,得出吊车梁的结构与配筋满足设计要求。此吊车梁设计的成功为今后类似工程提供了很好的参考。     

事故树分析法在港机故障检测中的应用

采用事故树分析法（ATA）对门座式起重机的潜在危险源进行辨识,以门座式起重机事故为顶上事件,从“倒塌”和“货物坠落”两类典型事故人手,层层深入,寻找导致顶上事件发生的原因,建立事故树．按照事故树中各事件的逻辑关系,运用布尔代数法简化事故树得到其代数表达式,然后对事故树进行定性分析,得到事故树的最小割集,计算出最容易导致顶上事件发生的一阶割集的结构重要度,并对其进行排序．结果显示导致门座式起重机事故的主要危险源为超负荷工作、焊缝开裂、设计制造安装缺陷以及操作不当等问题,提出在额定载荷下工作、严格按照国标设计制造安装以及定期检修等预防门座式起重机此类事故发生的对策．     

亭子口缆机运行效率提高的工作研究

根据缆机浇筑混凝土的工艺特性,将缆机浇筑混凝土过程中的车辆运输及缆机吊运程序进行作业流程分解,将缆机吊运作业周期划分为9个操作单元,采集缆机吊运混凝土过程中卸料和浇筑全周期各单元的50个工作样本数据进行统计分析,找出需改进的关键点,针对性地提出了6项改进措施.改进作业方案后缆机吊运混凝土的效率提高了约20％.     

一种基于缆索的堆石混凝土堆石入仓方式及应用

堆石入仓主要解决的是堆石垂直、水平、上下游方向的三维运输问题,基于安徽大龙潭水库拱坝除险加固工程的应用实例,介绍了一种基于缆索的堆石混凝土堆石入仓方式,包括设备构造和堆石流程。经过对比分析该堆石入仓方式与塔吊堆石入仓方式、长臂挖机堆石入仓方式的运行效率和成本,得出结论:基于缆索的堆石入仓方式适用于不具备自卸汽车入仓条件、工期较长、施工速度要求不高的堆石混凝土施工。