起重运输机械Issue(16)：55-60,6.
基于样条插值和差分进化算法的卸船机抓斗装卸轨迹优化
朱学岩 1田强 1连泽伟 1孙福1
作者信息
- 1. 太重(天津)滨海重型机械有限公司技术中心 天津 300450
- 折叠
摘要
Abstract
With the development of logistics industry,ship unloader is an important part of port machinery,and its working efficiency has a great influence on port logistics.Loading and unloading trajectory planning of ship unloader is an important link in port loading and unloading system.Reasonable optimization of the planned trajectory is an important link to ensure that the ship unloader can unload the goods safely and efficiently after grabbing the goods and satisfying different constraint conditions.Based on the analysis of the actual operation of the ship unloader under the unloading trajectory,problems existing in the existing trajectory were summarized.Spline interpolation was used to plan the path,which makes the whole path smoother and reduces the chattering during operation.Then differential evolution algorithm was adopted to optimize the trajectory,and the optimized trajectory was 5.02%more efficient than the single operation before optimization.The optimized trajectory showed improvement both in working space and time.关键词
卸船机/装卸/轨迹优化/样条插值/差分进化算法Key words
ship unloader/loading and unloading/trajectory optimization/spline interpolation/differential evolution algorithm分类
机械制造引用本文复制引用
朱学岩,田强,连泽伟,孙福..基于样条插值和差分进化算法的卸船机抓斗装卸轨迹优化[J].起重运输机械,2024,(16):55-60,6.
