集装箱堆场轮胎吊自动化作业系统仿真及实测
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摘要
针对在试集装箱堆场轮胎吊自动化作业系统存在的定位精度差、自动化程度低、场地适应性差、安全可靠性低、投资及维护成本高和作业效率提升不明显等问题,提出根据激光测距传感器、绝对值编码器、高清数字摄像机和动态倾角传感器的测量信息及码头运营管理系统的调度指令,通过悬停着落阶段远程+现场自动控制确认方式,自动完成吊具的门字运行、侧倾修正、扭转对位、悬停纠偏和抓箱放箱等作业的系统设计方案。给出完整、具体的系统设计过程,研制结构精细的仿真测试台架。通过仿真测试、现场测试和效果分析,初步验证设计方案的可行性、有效性和局限性,为后续研制任务提供改进建议。
A new automatic tire crane operation system for container yards is proposed to improve the positioning accuracy,the degree of automation,the site adaptability,the safety and reliability while reducing the investment and maintenance costs. The system features the automatic spreader operation,including door movement,tilt correction,torsional alignment,hover correction,container handling etc. with the remote + field automatic dispatch instruction confirmation in the stage of hover landing. The system is composed of the laser range sensor,absolute value encoder,high definition digital video camera,and dynamic tilt sensor. Complete and detailed system design process is given. A sophisticate test bench is developed.The feasibility,effectiveness and limitation of the design scheme are verified by the simulation tests,field tests and effect analysis. Further improvement of the design is discussed.
A new automatic tire crane operation system for container yards is proposed to improve the positioning accuracy,the degree of automation,the site adaptability,the safety and reliability while reducing the investment and maintenance costs. The system features the automatic spreader operation,including door movement,tilt correction,torsional alignment,hover correction,container handling etc. with the remote + field automatic dispatch instruction confirmation in the stage of hover landing. The system is composed of the laser range sensor,absolute value encoder,high definition digital video camera,and dynamic tilt sensor. Complete and detailed system design process is given. A sophisticate test bench is developed.The feasibility,effectiveness and limitation of the design scheme are verified by the simulation tests,field tests and effect analysis. Further improvement of the design is discussed.
引文
[1]KNIGHT C E,BECERRA V,HOLDERBAUM W,et al.Modelling and Simulating the Operation of RTG Container Cranes[C]//Power Electronics,Machines and Drives.6th IET International Conference,2012:1-6.
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[3]TRIEU P V,TUAN L A.Combined Controls of Floating Container Cranes[C]//Control,Automation and Information.International Conference on IEEE,2015:442-447.
[4]段朝辉.离散货源需求下的集装箱桥吊配置优化离散货源需求下的集装箱桥吊配置优化[J].中国航海,2016,39(2):120-124.
[5]曹民,朱爱玺.集装箱门式起重机用吊具路径优化控制系统:ZL2013101756990[P].2014-12-03.
[6]曹民.集装箱堆场轮胎吊自动化作业系统:ZL2015106509575[P].2017-03-22.
[7]KAWAI H,CHOI Y,KIM Y B,et al.Position Measurement of Container Crane Spreader Using an Image Sensor System for Anti-Sway Controllers[C]//Control,Automation and Systems.International Conference on IEEE,2008:683-686.
[8]MAHRUEYAN M,KHALOOZADEH H.On the Skew and Sway Control of Container Cranes[C]//Control,Instrumentation and Automation.2nd International Conference on IEEE,2011:407-412.
[2]KGO Q H,HONG K S.Adaptive Sliding Mode Control of Container Cranes[J].IET Control Theory&Applications.IET Journals&Magazines,2012:662-668.
[3]TRIEU P V,TUAN L A.Combined Controls of Floating Container Cranes[C]//Control,Automation and Information.International Conference on IEEE,2015:442-447.
[4]段朝辉.离散货源需求下的集装箱桥吊配置优化离散货源需求下的集装箱桥吊配置优化[J].中国航海,2016,39(2):120-124.
[5]曹民,朱爱玺.集装箱门式起重机用吊具路径优化控制系统:ZL2013101756990[P].2014-12-03.
[6]曹民.集装箱堆场轮胎吊自动化作业系统:ZL2015106509575[P].2017-03-22.
[7]KAWAI H,CHOI Y,KIM Y B,et al.Position Measurement of Container Crane Spreader Using an Image Sensor System for Anti-Sway Controllers[C]//Control,Automation and Systems.International Conference on IEEE,2008:683-686.
[8]MAHRUEYAN M,KHALOOZADEH H.On the Skew and Sway Control of Container Cranes[C]//Control,Instrumentation and Automation.2nd International Conference on IEEE,2011:407-412.