非对称最优法在轨道式集装箱门式起重机自动纠偏控制系统中的应用

轨道式集装箱门式起重机（文中简称RMG）中存在的啃轨现象，极大地影响了起重机的安全性、工作效率，制约了起重机自动化程度的进一步提高。本文在对目前治理啃轨方法进行比较和分析之后，结合RMG自身存在各种不确定性的特点，如：RMG小车起吊不同重量的集装箱，且位置不断变化时，大车围绕质心的转动惯量存在不确定性；RMG工作环境恶劣，电磁干扰等不利因素使传感器或驱动器的特性存在不确定性。提出运用非对称最优法（NSOM）为RMG自动纠偏控制系统设计控制器，仿真结果表明NSOM方法不但能提高系统的闭环响应速度，还具有良好的抗干扰能力，能较好地克服RMG中各种不确定性对系统性能的影响。

Application of non-symmetric optimum method in auto alignment traveling control system for RMG

Skew traveling in RMG operation greatly influences safty and efficiency of RMG operation and is an obstacle to further improve their automatization. The paper compares and analyzes various solutions to skew traveling. Further, in light of uncertainties from RMG, such as lifting different weight containers, load position, moment of inertia in crane pivoting around crane＇s mass centre, operational environment, sensors and driver performance changes caused by electromagnetic disturbance, it expounds how the auto alignment control system is designed by using non - symmetric optimum method （NSOM）. The simulating result shows that NSOM method serves to enhancc the system＇s closed loop response speed and anti - interference capability, and is able to eliminate influence of the uncertainties in RMG on the system＇s performance.