The invention discloses a bridge crane path planning method considering obstacle avoidance, and belongs to the field of mechanical automation. The path planning method comprises the following steps: 1, establishing a controlled dynamic model of a bridge crane according to the relevant parameters of the bridge crane; 2, establishing a control saturation constraint; 3, establishing a state quantityconstraint; 4, establishing an obstacle avoidance condition; 5, determining a boundary condition for a dispatch task; and 6, according to the dynamic equation, boundary condition and constraint condition of the bridge crane, establishing an energy-time optimal control problem and solving the problem. The simple obstacle avoidance condition in a mathematical form is provided, and the stability andefficiency of a calculation process can be ensured. Meanwhile, the time and the energy consumption in the dispatch process are comprehensively considered, and the method has important significance inpractical control tasks.

    一种考虑避障的桥式起重机路径规划方法,属于机械自动化领域。所述路径规划方法包括:首先,根据桥式起重机的相关参数,建立桥式起重机的受控动力学模型。第二,建立控制饱和约束。第三,建立状态量约束。第四,建立避障条件。第五,确定调运任务的边界条件。第六,根据桥式起重机的动力学方程、边界条件以及约束条件,建立能量‑时间最优控制问题并进行求解。本发明提供了一种数学形式上简单的避障条件,能够保证计算过程的稳定性与效率。同时综合考虑了调运过程中的时间与能量消耗,具有实际的控制任务具有重要意义。


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    Title :

    Bridge crane path planning method considering obstacle avoidance


    Additional title:

    一种考虑避障的桥式起重机路径规划方法


    Contributors:
    WANG XINWEI (author) / LIU JIE (author) / DONG XIANZHOU (author) / PENG HAIJUN (author) / ZHANG SHENG (author) / CHEN BIAOSONG (author) / LI YUNPENG (author) / LYU CHEN (author)

    Publication date :

    2020-09-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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