模糊神经网络在改进跷板梁式减摇系统中的研究
摘要
岸边集装箱起重机(简称岸桥)作为集装箱船与集装箱港口前沿之间装卸集装箱的主要设备，其装卸能力直接决定集装箱港口作业生产率。为提高岸边桥式起重机作业效率，人们采取了一系列的改进岸桥的技术和措施，如：研发完全集装箱装卸的自动操作技术；改进装卸设备采用了双箱吊具作业，平均能使装卸效率平均提高25％以上；改进装卸方式采用了双小车接力作业等。在装卸设备和装卸方式上的技术改进已经日趋完善，人们渴望新的控摇技术出现的同时，也在不断改善老式的防摇方式。
跷板梁式减摇装置结构简单，不需要额外的辅助钢丝绳或装置，防摇效果也较好。其应用劣势主要体现在：防摇效果不够理想，动载适应能力不强，自动化程度不高，液压故障较多等。
本文主要针对跷板梁式减摇装置动载适应能力不强，自动化程度不高，改进液压回路，并引入基于神经网络的模糊控制和PLC控制技术。在液压技术方面，采用节能措施，减小液压发热量，从而在一定程度上减小液压故障的发生率。
在控制方式方面，本文采用智能控制方式，它不同于经典控制理论和现代控制理论的处理方法，它的主要目标仍是被控对象，而重点放在控制器本身。智能控制的实现有机地融合了模糊神经网络理论。引入模糊控制主要是为了克服由于过程本身的不确定性、不精确性及噪音带来的困难，弥补了神经网络信息初始权值难以确定的不足。但是，纯粹的模糊控制不具备完善的控制规则，而且自学习能力差，因此，引入神经网络生成隶属函数修改模糊控制规则来弥补模糊控制的不足，和模糊控制一起构成模糊神经网络控制器，它组成了本文智能控制的核心内容。此外，在智能自动控制方面还引入了PLC控制，实现自动调节阻尼和自动报警等功能，以提高减摇系统自动化程度。
理论研究结果表明：改进后的跷板式减摇系统具有减摇效果较好，能够提高自动化，智能化控制程度，也是一个值得去进一步研究和发展的课题。
Quaryside Portainers (QP for abbreviation) are mainly mechinery for loading and unloading containers between container-ships and harbors,whose loading or unloading capacity decide containers harbor operation production-rate.High production-rate is primely destination of QP production-rate.lt impels QP to develop in the way of huge-type high-speed trolley ,automation, intelligent and environment -prevention.
To increase the production-rate of QP,people adopt a series of techniques and measures to improving abilities of QP:
(1)Reseach and develop totally automation technology, such as automation laocation, identification and evasion the obstacle in the way of container's motion, industrial manipulator wristlock etc.
(2)Application of Two-box spreader to improve loading mechanism which can averagely promote 25 percent of production-rate.
(3)Application of two trolleys to improve the method of loading.
As the technology of loading equipment and method of loading gradually becomes perfect,developing and researching new sway-prevention or how to improve traditional sway-prevention is the key problem we must be faced with.
Seesaw-beam sway-prevention mechanism don't need auxiliary steel wire and has a simple construct. This paper improve the dampen hydraulic circuit to adopt variable Load and enhance the degree of automation, meanwhile apply in the economizing tech -nology to low the hydraulic failure.
This paper adopts intelligent control ,different from the model in way of classic and modern control theory, whose mainly aims at controller it self ,but at object being controlled.classic and modern control theory look feeble in disposing the problem such as sway-prevention.
This paper disserts intelligent control as following two facets: Fuzzy control concludes from people's control experiments of real production into fuzzy control rules set,as a method of language control ,it need not know the exact mathematical model Introducing fuzzy control' mainly overcome the difficult brought by
inexactitude and voice in the process of control to compensate the deficiency in hard-established original weights of neutral network..But pure fuzzy control has not perfect control rules and feeble self -study ,so introducing neutral network creates subjection function and edits fuzzy control rules. Neutral network and fuzzy control together build fuzzy- neutral network controller ,which is the core content of this paper.Besides,introducing the PLC control enhance the degree of the intelligence and automation to realize adjustment damper and automatically warning. An expectd result of dumping,intelligent and automatical control of improved sway-prevention seesaw-beam mechanism and hydraulic system with less obstacles is proved in theory.
跷板梁式减摇装置结构简单，不需要额外的辅助钢丝绳或装置，防摇效果也较好。其应用劣势主要体现在：防摇效果不够理想，动载适应能力不强，自动化程度不高，液压故障较多等。
本文主要针对跷板梁式减摇装置动载适应能力不强，自动化程度不高，改进液压回路，并引入基于神经网络的模糊控制和PLC控制技术。在液压技术方面，采用节能措施，减小液压发热量，从而在一定程度上减小液压故障的发生率。
在控制方式方面，本文采用智能控制方式，它不同于经典控制理论和现代控制理论的处理方法，它的主要目标仍是被控对象，而重点放在控制器本身。智能控制的实现有机地融合了模糊神经网络理论。引入模糊控制主要是为了克服由于过程本身的不确定性、不精确性及噪音带来的困难，弥补了神经网络信息初始权值难以确定的不足。但是，纯粹的模糊控制不具备完善的控制规则，而且自学习能力差，因此，引入神经网络生成隶属函数修改模糊控制规则来弥补模糊控制的不足，和模糊控制一起构成模糊神经网络控制器，它组成了本文智能控制的核心内容。此外，在智能自动控制方面还引入了PLC控制，实现自动调节阻尼和自动报警等功能，以提高减摇系统自动化程度。
理论研究结果表明：改进后的跷板式减摇系统具有减摇效果较好，能够提高自动化，智能化控制程度，也是一个值得去进一步研究和发展的课题。
Quaryside Portainers (QP for abbreviation) are mainly mechinery for loading and unloading containers between container-ships and harbors,whose loading or unloading capacity decide containers harbor operation production-rate.High production-rate is primely destination of QP production-rate.lt impels QP to develop in the way of huge-type high-speed trolley ,automation, intelligent and environment -prevention.
To increase the production-rate of QP,people adopt a series of techniques and measures to improving abilities of QP:
(1)Reseach and develop totally automation technology, such as automation laocation, identification and evasion the obstacle in the way of container's motion, industrial manipulator wristlock etc.
(2)Application of Two-box spreader to improve loading mechanism which can averagely promote 25 percent of production-rate.
(3)Application of two trolleys to improve the method of loading.
As the technology of loading equipment and method of loading gradually becomes perfect,developing and researching new sway-prevention or how to improve traditional sway-prevention is the key problem we must be faced with.
Seesaw-beam sway-prevention mechanism don't need auxiliary steel wire and has a simple construct. This paper improve the dampen hydraulic circuit to adopt variable Load and enhance the degree of automation, meanwhile apply in the economizing tech -nology to low the hydraulic failure.
This paper adopts intelligent control ,different from the model in way of classic and modern control theory, whose mainly aims at controller it self ,but at object being controlled.classic and modern control theory look feeble in disposing the problem such as sway-prevention.
This paper disserts intelligent control as following two facets: Fuzzy control concludes from people's control experiments of real production into fuzzy control rules set,as a method of language control ,it need not know the exact mathematical model Introducing fuzzy control' mainly overcome the difficult brought by
inexactitude and voice in the process of control to compensate the deficiency in hard-established original weights of neutral network..But pure fuzzy control has not perfect control rules and feeble self -study ,so introducing neutral network creates subjection function and edits fuzzy control rules. Neutral network and fuzzy control together build fuzzy- neutral network controller ,which is the core content of this paper.Besides,introducing the PLC control enhance the degree of the intelligence and automation to realize adjustment damper and automatically warning. An expectd result of dumping,intelligent and automatical control of improved sway-prevention seesaw-beam mechanism and hydraulic system with less obstacles is proved in theory.
引文
[1]陆元章．液压系统的建模与分析，上海交通大学出版社，1989．12
[2]林建亚，何存兴．液压元件，机械工业出版社，1988
[3]殷乾训，方之良．液压传动系统．机械工业出版社，1988．5
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[5]王春行．液压控制系统．机械工业出版社，1999．5
[6]吴良宝，倪善生．液压测试技术．上海交通大学出版社 1995，2
[7]Ilpo Hakala,Timo,sorna. Hydraulic sway damping in RTG Cranes KoneCranes World 1998
[8]张泰．集装箱起重机减摇系统的分析与计算．青岛建筑工程学报，1997，vol18 No1
[9]蒋国仁．港口起重机械．大连海事大学出版社，1995
[10]张惠桥，乐竟辉，钱学清．起重机自动控摇技术的研究 港口装卸，2000增
[11]Tian Hong Super Panama Type Portainer with All Double rope trolley Port Operation, 2000.(5)
[12]王金诺，程文明，张质文等．集装箱起重机刚性减摇系统的动态仿真．铁道学报，1995(1)
[13]潘诒滨．液压缸式集装箱吊具绕性防摇装置 铁道货运，1995 (2)
[14]邹胜．集装箱起重机吊具止摆装置的原理及计算．起重机机械，1994(7)
[15]郑喻平，张云瑞．可编程程序控制器．北京航天航空大学出版社，1995．12
[16]齐蓉．可编程控制器程序设计．西北工业大学出版社，2000．9
[17]汪晓光等．可编程控制器原理及应用．机械工业出版社，1995
[18]薛朵，李宇成．港口集装箱吊车的建模与模糊控制．机电一体化，2000(3)
[19]康赐荣．用人工神经网络实现模糊控制．电脑与信息技术，2001(3)
[20]孙国正．优化设计及应用．北京：人民交通出版社，1992．12 41～44
[21]周长发．精通Visual BASIC++图象编程．电子工业出版社，2000．1
[22]吕凤翥．VB6.0语言基础教程．清化大学出版社，1999．3
[23]王耀南．智能控制系统．湖南大学出版社，1995．3
[24]徐金梧，杨德斌，徐科．TURBO C实用大全．机械工业出版社，1999．5
[25]张琦，孙秀荣等．电液控制工程．西北工业大学出版社，1987．5
[26]邱建设．VB5.0语言图形设计．武汉大学出版社，1996
[27]李士勇．模糊控制·神经控制和智能控制论．哈尔滨工业大学出版社，1998
[28]刘增良．模糊逻辑与神经网络——理论研究与探索．北京航空航天大学出版社，1998
[29]郭建政，毛玉军．PLC与上位机的通信．自动化仪表，1994 (2)
[30]马刚．Visual Basic环境下的PLC通信．山东煤炭科技，2002年第2期
[31]Kees, M. and Burnham, K.J. and Dunoyer, A. and Tabor, J.H. Modelling and simulation considerations for an industrial crane. International Conference on Simulation'98, 1998
[32]Kaur, D. and Shah, K. Visualization in Java. the performance of control system, based on fuzzy inference system, with a front-end built in Visual Basic. IFSA World Congress and 20th NAFIPS International Conference, July 2001, vol.2, 102～107
[33]Hirasawa, K. and Rui Wu and Ohbayashi, M. and Ning Shao. Universal learning network-based fuzzy system and its application to nonlinear control system. 1996 IEEE International Conference on Systems, Man, and Cybernetics, 1996, vol.2, 110～115
[34]杨叔子，杨克冲．机械工程控制基础．华中理工大学出版社，1993．3
[35]Chih-Hsun Chou,Hung-Ching Lu Design of a Real-Time Fuzzy Controller for Hydraulic Servo systems. Computer in Industry, 1993,22:249～261
[36]希望电子编程工作室．Visual C++6.0编程高手．北京希望电子出版社，1999．6
[37]R.H.Warring. Hydraulic Handbook(8th Edition) Trade&Technical Press LTD MORDEN,SURREY,SM45EW ENGLAND,1983
[38]Sushmita Mitra. Self-organizing Neural Network Observer As A Fuzzy Classifier. IEEE control system, 1994.4
[39]Toshimo Fuhuda Neuromrphic Control:Adaption and Learning IEEETrans on Industrial electronics. 1992,39(6):497～521
[40]FOUZI BOUSLAMA,AKIRA ICHIKAWA. Aplication of Neural Networks to Fuzzy Control. Neural Networks, 1993,54:121～133
[41]Liang, Y.C. and Koh, K.K. Concise anti-swing approach for fuzzy crane control. Electronics Letters, 1997,33(2):167～168
[42]Gutierrez, M. and Soto, R. Fuzzy control of a scale prototype overhead crane. Proc. of the 37th IEEE Conference on Decision and Control, 1998, vol.4, 266～269
[43]上海港口机械厂，上海振华港机股份公司提供的一些岸桥资料和图纸．
[44]http://bbs.whnet.edu.cn.
[45]蔡怀阳．集装箱转锁机械手设计及监控：[硕士学位论文]．武汉：武汉理工大学机械设计及理论专业，2001．3
[46]薛朵，李宇成．港口集装箱吊车的建模与模糊控制．机电一体化，2000．(2)
[47]金耀初，诸静，蒋静坪．神经网络自学习模糊控制及其应用．电工技术学报，1994．11
[48]范其蓬，张小川，范赣军．模糊控制在集装箱小车电子防摇中的应用．港口装卸，1998
[49]范其蓬．实时智能控制系统的设计与实践：[硕士学位论文]．武汉：武汉理工大学机械设计及理论专业，1999．3
[50]方向，薛璞．振动理论及应用．西安：西安工业大学出版社，1998．5
[51]章卫国，杨向忠．模糊控制理论与应用．西安：西北工业大学出版社，2001．2
[52]王华，张祝新．PLC和电液比例阀在工程车转向控制中的应用．机床与液压，1996(4)
[53]井口征士．传感工程．科学工业出版社，2001．1
[54]袁希光．传感器技术手册．国防工业出版社，1992．2
[55]http://bbs.zsu.edu.cn
[56]王占林．近代液压控制．北京：机械工业出版社，1997．8
[2]林建亚，何存兴．液压元件，机械工业出版社，1988
[3]殷乾训，方之良．液压传动系统．机械工业出版社，1988．5
[4]袁福昌，李国湛，张君山．集装箱装卸搬运机械．港口装卸杂志社 1988
[5]王春行．液压控制系统．机械工业出版社，1999．5
[6]吴良宝，倪善生．液压测试技术．上海交通大学出版社 1995，2
[7]Ilpo Hakala,Timo,sorna. Hydraulic sway damping in RTG Cranes KoneCranes World 1998
[8]张泰．集装箱起重机减摇系统的分析与计算．青岛建筑工程学报，1997，vol18 No1
[9]蒋国仁．港口起重机械．大连海事大学出版社，1995
[10]张惠桥，乐竟辉，钱学清．起重机自动控摇技术的研究 港口装卸，2000增
[11]Tian Hong Super Panama Type Portainer with All Double rope trolley Port Operation, 2000.(5)
[12]王金诺，程文明，张质文等．集装箱起重机刚性减摇系统的动态仿真．铁道学报，1995(1)
[13]潘诒滨．液压缸式集装箱吊具绕性防摇装置 铁道货运，1995 (2)
[14]邹胜．集装箱起重机吊具止摆装置的原理及计算．起重机机械，1994(7)
[15]郑喻平，张云瑞．可编程程序控制器．北京航天航空大学出版社，1995．12
[16]齐蓉．可编程控制器程序设计．西北工业大学出版社，2000．9
[17]汪晓光等．可编程控制器原理及应用．机械工业出版社，1995
[18]薛朵，李宇成．港口集装箱吊车的建模与模糊控制．机电一体化，2000(3)
[19]康赐荣．用人工神经网络实现模糊控制．电脑与信息技术，2001(3)
[20]孙国正．优化设计及应用．北京：人民交通出版社，1992．12 41～44
[21]周长发．精通Visual BASIC++图象编程．电子工业出版社，2000．1
[22]吕凤翥．VB6.0语言基础教程．清化大学出版社，1999．3
[23]王耀南．智能控制系统．湖南大学出版社，1995．3
[24]徐金梧，杨德斌，徐科．TURBO C实用大全．机械工业出版社，1999．5
[25]张琦，孙秀荣等．电液控制工程．西北工业大学出版社，1987．5
[26]邱建设．VB5.0语言图形设计．武汉大学出版社，1996
[27]李士勇．模糊控制·神经控制和智能控制论．哈尔滨工业大学出版社，1998
[28]刘增良．模糊逻辑与神经网络——理论研究与探索．北京航空航天大学出版社，1998
[29]郭建政，毛玉军．PLC与上位机的通信．自动化仪表，1994 (2)
[30]马刚．Visual Basic环境下的PLC通信．山东煤炭科技，2002年第2期
[31]Kees, M. and Burnham, K.J. and Dunoyer, A. and Tabor, J.H. Modelling and simulation considerations for an industrial crane. International Conference on Simulation'98, 1998
[32]Kaur, D. and Shah, K. Visualization in Java. the performance of control system, based on fuzzy inference system, with a front-end built in Visual Basic. IFSA World Congress and 20th NAFIPS International Conference, July 2001, vol.2, 102～107
[33]Hirasawa, K. and Rui Wu and Ohbayashi, M. and Ning Shao. Universal learning network-based fuzzy system and its application to nonlinear control system. 1996 IEEE International Conference on Systems, Man, and Cybernetics, 1996, vol.2, 110～115
[34]杨叔子，杨克冲．机械工程控制基础．华中理工大学出版社，1993．3
[35]Chih-Hsun Chou,Hung-Ching Lu Design of a Real-Time Fuzzy Controller for Hydraulic Servo systems. Computer in Industry, 1993,22:249～261
[36]希望电子编程工作室．Visual C++6.0编程高手．北京希望电子出版社，1999．6
[37]R.H.Warring. Hydraulic Handbook(8th Edition) Trade&Technical Press LTD MORDEN,SURREY,SM45EW ENGLAND,1983
[38]Sushmita Mitra. Self-organizing Neural Network Observer As A Fuzzy Classifier. IEEE control system, 1994.4
[39]Toshimo Fuhuda Neuromrphic Control:Adaption and Learning IEEETrans on Industrial electronics. 1992,39(6):497～521
[40]FOUZI BOUSLAMA,AKIRA ICHIKAWA. Aplication of Neural Networks to Fuzzy Control. Neural Networks, 1993,54:121～133
[41]Liang, Y.C. and Koh, K.K. Concise anti-swing approach for fuzzy crane control. Electronics Letters, 1997,33(2):167～168
[42]Gutierrez, M. and Soto, R. Fuzzy control of a scale prototype overhead crane. Proc. of the 37th IEEE Conference on Decision and Control, 1998, vol.4, 266～269
[43]上海港口机械厂，上海振华港机股份公司提供的一些岸桥资料和图纸．
[44]http://bbs.whnet.edu.cn.
[45]蔡怀阳．集装箱转锁机械手设计及监控：[硕士学位论文]．武汉：武汉理工大学机械设计及理论专业，2001．3
[46]薛朵，李宇成．港口集装箱吊车的建模与模糊控制．机电一体化，2000．(2)
[47]金耀初，诸静，蒋静坪．神经网络自学习模糊控制及其应用．电工技术学报，1994．11
[48]范其蓬，张小川，范赣军．模糊控制在集装箱小车电子防摇中的应用．港口装卸，1998
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