舰载特种起重机的时间-能量综合最优控制

舰载特种起重机是我国正在研制开发的多关节、可折叠式船用起重机。研究它的高效节能运行模式，也就是时间－能量综合最优控制意义重大，本文通过引入加权变量得到舰载特种起重机的时间－能量综合最优性能指标，证明了综合最优解的结构，并进一步提出了“预测平均动态理论”概念，应用此理论处理了舰载特种起重机的非线性和耦合，最终设计了反馈形式的时间－能量综合最优控制器。仿真的结果验证了此设计方法的正确有效性。     

船舶液压起重机延迟反馈吊重消摆控制

由于操纵和工作环境的变化,起重机的吊重在工作过程中会产生摆动,这种摆动降低了起重机的工作效率和安全性能。文章以集美大学轮机工程实验中心船舶液压起重机为研究对象,采用机电液仿真建模技术及拉格朗日方程,在MATLAB Simulink仿真软件平台上,建立起重机操作液压系统及吊重摆动模型,采用与试验数据对比的方法对所建立的模型进行验证。设计基于吊重摆动位置延迟反馈的控制器,通过将延迟反馈信号叠加到操作信号上的方法实现吊重的消摆控制。结果表明,在各种操作情况下,延迟反馈控制器均能很好地抑制吊重的摆动。     

基于模糊PID控制器的门式起重机大车定位控制系统研究

以门式起重机大车准确定位问题为研究对象,根据准确定位作业控制和系统动态性能的要求,设计了基于模糊PID控制器的准确定位控制系统,并利用MATLAB语言对门式起重机大车运行定位系统进行了仿真。仿真结果表明,这种复合控制方法,不仅保持了模糊控制器原有的鲁棒性,而且响应时间短,稳态误差小,达到较理想的控制性能目标。     

浅析整流回馈单元在港口起重设备节能改造中的作用

重点介绍通过由IGBT功率元件制成的国产整流回馈单元,将港口起重机负载下降的势能转换为三相交流电并回馈给供电网的过程。该项技术可以将起重机供电系统的功率因数提高到接近1.0,经工程实例验证其节能效果显著,可为老港区供电系统改造、新港区供电工程设计和设备选型提供参考。     

岸边集装箱起重机司机操作意图识别方法研究

以港口岸边集装箱起重机装卸操作过程为研究背景,基于隐马尔科夫模型（HMM）,建立双层HMM模型,运用修改后的Forward-Backward算法,计算操作层各个HMM模型的似然度,选择似然度最大的模型作为操作行为的识别结果,组成观察序列串后,送入意图层HMM模型集,进行桥吊司机操作意图的识别。最后,采用Matlab环境实现HMM模型,通过现场统计确定案例基础数据,验证了模型的有效性。结果表明,该模型可准确识别岸边集装箱起重机司机的操作意图,对于研究港口机械智能辅助驾驶系统具有一定的意义。     

直流驱动的门机电控系统改造

简要介绍直流驱动的门机电控系统改造 ,包括数字式直流调速器、PLC和触摸式工业图形监控系统的应用。     

连续泊位下泊位分配与岸桥动态调度的联合优化*

根据到港船舶的装卸作业量、最优靠泊位置,为了最小化船舶在港时间、提高客户满意度,对延迟完工的装卸任务量、与最佳靠泊位置的偏离程度设置不同级别的惩罚费用系数;同时为了充分利用岸桥资源,考虑岸桥可在船舶间移动装卸的动态调度,研究连续型泊位下泊位分配-岸桥动态调度的联合优化问题.建立了以最小化延迟完工任务量、偏离最佳靠泊位置和岸桥移动的惩罚费用为目标的整数规划模型,结果可得到船舶靠泊计划,以及具体的岸桥分派计划.通过算例验证了联合调度优化模型对提高集装箱码头作业效率和船公司客户满意度的有效性.     

对港口起重机钢结构抗脆断设计的研究

港口起重机的钢结构是起重机的重要组成部分,是整台起重机的骨架.《起重机设计规范》(GB3811-83)对钢结构提出了抗屈服、抗失稳和抗疲劳失效的安全性核算要求,但不能保证抗脆性破坏的安全性;在F.E.M标准《欧洲起重机械设计规范》(1998年修订版)中对钢结构抗脆性破坏提出了钢材质量选择办法.本文针对现行起重机钢结构设计,从防止结构脆断的角度就如何合理选用钢材等级做一些探讨.     

Active control for installation of underwater structures

The trend towards deepwater development requires a new approach to underwater installation of offshore structures. The present method using crane vessels has some drawbacks in operations at more than 2000 m depth. The natural period of the coupled system of the rigged structure and the crane vessel becomes longer, so that it is no longer possible to manipulate the cranes to achieve the desired positioning accuracy. This paper examines the application of an active control technique for underwater installations as one of the solutions to the present problems. An active control technique also has the advantage that it can deal with the structural flexibility which allows the structure to be large and light-weight. This structural flexibility imposes problems of suppressing the elastic responses and securing the stability of the control system. In this paper, anH _∞ controller combined with a low authority control/high authority control (LAC/HAC) feedback controller is designed for cases where structural flexibility cannot be ignored. A robust model-following controller is examined for cases where the structure can be treated as rigid. In order to confirm the control algorithm and verify the possibility of the active control installation method, basin tests are executed using two types of neutrally buoyant flexible models with ultrasound ranging systems and thrusters.     

带斗门机在物料冲击漏斗载荷下的动态特性分析

对物料冲击漏斗全过程进行瞬态动力学分析,对冲击载荷及带斗门机动态特性进行分析计算,运用数值仿真技术得到其位移响应表达式及位移响应曲线,为结构优化设计和带斗门机动力学分析提供理论依据。     

Optimal scheduling of block lifting in consideration of the minimization of traveling distance while unloaded and wire and shackle replacement of a gantry crane

Nowadays, shipyards are making every effort to efficiently manage their resources such as gantry cranes, transporters, and block stock yards. The scheduling of block lifting for a gantry crane has been manually performed by an expert shipyard manager for many years. Such a practice, however, can lead to an undesirably long time to produce scheduling plans. In addition, the quality of the scheduling plans may not be optimal. To improve the overall process, a block lifting scheduling system for a gantry crane was developed in this study by using optimization techniques. A block lifting scheduling problem was first formulated as a multiobjective optimization problem. For a gantry crane, minimization of the traveling distance while unloaded and wire and shackle replacement between block lifting was considered. An optimization algorithm based on the genetic algorithm was then proposed and implemented so as to solve the problem. To evaluate the efficiency and applicability of the developed system, the system was applied to an actual block lifting scheduling problem in a shipyard. Compared to results achieved by manual scheduling by an expert manager, the results of this work show that blocks can be more efficiently lifted by a gantry crane when the developed system is applied.     

可编程控制器及DCS800直流驱动器在岸桥改造中的运用

分析了集装箱岸桥原控制方案存在的问题,提出采用了可编程控制器和直流驱动器替代原先落后的控制方式,较详细介绍了对岸桥的电源部分、控制系统部分、驱动部分的改造方案。改造后设备故障率大大降低,提高了维护性能和装卸效率。     

铺管船定位作业时的建模与分析

建立了J型半潜式铺管起重船非线性船舶运动数学模型和环境模型。采用自然悬链线法得到管道对船舶的近似动态水平作用力模型,给出了随着船体运动管道受到的作用力和管道形状的变化。针对铺管作业时张紧器和管道间的恒张力问题设计了控制器,控制器限制了船舶的运动和管道作用力的变化率,从而使管道和张紧器之间不会出现滑动,保证了铺管作业的安全性。     

集装箱正面吊控制系统设计与垂直升降功能分析

为了提高工作效率,集装箱正面吊运机采用机电一体化行走机械伺服专用控制器。介绍整机电气控制系统的组成以及操纵系统、显示界面等。对产品应用结果进行分析。采用该装置大大简化操纵系统的操纵性,达到了预期效果。     

SWATH船纵向运动的分数阶PIλDμ控制

针对小水线面双体船(SWATH)的纵向运动稳定性问题,对某SWATH船设计了一种分数阶PI^λD^μ控制器。首先,在控制器设计过程中,引入ITAE准则获得分数阶PID控制器的优化参数,并以类似方式得到优化参数的最优PID控制器。然后,以SWATH船为研究对象,分别采用分数阶PI^λD^μ控制器和最优PID控制器对其等效Nomoto模型和考虑风浪干扰后的模型进行仿真研究。最后,对它们的控制性能及控制能量消耗进行比对分析。通过分析发现,本文所提出的分数阶PI^λD^μ控制器的控制效果明显优于最优PID控制器,且分数阶PI^λD^μ控制器更为节能。     

深水半潜式起重船J-Lay系统布置研究

为适应多功能作业需求,大型深水半潜式起重船往往配备J型铺管系统。由于起重船吊机占有很大甲板面积和重量,J型铺管系统的布置对结构强度、船舶稳性等都有较大影响。通过对国际上已有深水半潜式起重船J-lay系统的布置方案进行对比分析,提出了深水半潜式起重船J-Lay系统布置的优选方案。     

克令吊基座的局部加强结构优化设计研究(续)

采用结构有限元方法,对某型克令吊底部加强结构的小肘板结构进行了不同方案的优化分析及计算,依据其结构特点,在前期工作的基础上,对小肘板的软硬度设计优化方案进行了具体的结构强度分析和比较,为以后克令吊底部加强结构的优化设计分析工作提供进一步的参考。     

Underactuated control and analysis of single blade installation using a jackup installation vessel and active tugger line force control

The assembly and installation costs account for a large share in the overall expenditures of an offshore wind farm project. Single blade installation is suitable for large scale wind turbines due to the lower crane capability requirement and lower transportation time. By introducing active tension control on the tugger lines, an automatic single blade installation approach can accomplish operations in higher sea states, reduce the waiting-on-weather time, and improve the operational efficiency. Compared to early research, a more complicated control objective is achieved in this paper, i.e., a two-tugger-line configuration is applied to stabilize the suspended blade in three degrees of freedom during crane rotation and blade root-hub mating processes. The pulleys on the crane boom, i.e., the ends of the tugger lines, are assumed to be fixedly placed, resulting in tugger line time-varying inclinations. A novel backstepping-like controller is designed and proved. It is able to stabilize the blade around its equilibrium and make it track the desired path. Sensitivity studies are conducted to evaluate the influence of the tugger line inclinations. In addition, the influence of the installed blades on a three-blade horizontal wind turbine with a monopile foundation is discussed. The proposed active control setup improves the installation success rate and reduces the risks for blade impacts that may occur during mating.     

低碳型集装箱码头岸桥优化配置研究

本文以最小化船舶待泊损失费和泊位闲置损失费之和作为目标函数,以岸桥装卸单位吞吐量CO2排放量作为约束条件,提出低碳型集装箱码头岸桥配置优化模型。同时,通过对比考虑岸桥装卸单位吞吐量CO2排放量约束条件前后的岸桥配置优化结果,分析碳排放约束条件对模型优化结果的影响。结果表明考虑碳排放约束条件后的岸桥配置优化模型能够对原配置方案造成影响,可以通过岸桥的重新配置降低岸桥装卸单位吞吐量的CO2排放值。     

基于Modelica的主动波浪补偿起重机建模与仿真

为研究主动波浪补偿起重机的动态特性和起吊重物质量等关键参数对主动波浪补偿起重机性能的影响,采用多领域统一建模语言Modelica,在MWorks仿真软件中构建二次马达、恒压变量泵、蓄能器、溢流阀和钢丝绳等模型,以构造出完整的主动波浪补偿起重机模型.对该模型进行仿真分析,结果表明:当起吊重物的质量为20t～160t时,主动波浪补偿起重机的控制效果较好;当起吊重物的质量达到200 t时,重物的补偿位移控制效果相对较差;通过调整PID控制参数可提高起重机起吊重物的质量.