Adaptive online trajectory planning method and application for zinc electrolysis cranes

被引：0
|
作者：
Tang F.-R. [1 ]
Yang C.-H. [1 ]
Li Y.-G. [1 ]
Zhu H.-Q. [1 ]
Li F.-B. [1 ]
Zhou C. [1 ]
机构：
[1] School of Automation, Central South University, Changsha
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2022年 / 39卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Adaptive; Crane; Slip rate; State evaluation; Trajectory planning;
D O I：
10.7641/CTA.2021.10143
中图分类号：
学科分类号：
摘要：
In the zinc electrolysis workshop, the acid fog, water vapor, and other harsh environmental factors cause the crane's slipping phenomenon, which leads to the problems that the sliding distance after braking is difficult to control, the positioning efficiency is low and the error is large. Aiming at these problems, an adaptive online trajectory planning method based on track condition evaluation is proposed in this paper. First, for the problem that the friction coefficient of the crane track changes and cannot be determined, the crane slip rate that reflects the degree of track slip is introduced to evaluate the track state. Then, according to the evaluation results and the hierarchical braking strategy, the speed trajectory is updated adaptively and the best braking time is determined. Finally, the proposed method is verified by numerical simulation and actual application effects in the zinc electrolysis workshop. The simulation and application results show that the proposed method can make the swing angle of the electrolysis cranes payload less than 1°. Under the condition of a track with a total length of 60 m, the crane positioning error is less than 3 mm. Compared with manual driving, the proposed method efficiency of the braking in the deceleration has been increased by 28% on average, which achieves a good operating result. © 2022, Editorial Department of Control Theory & Applications. All right reserved.
引用
收藏
页码：276 / 284
页数：8
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