基于电控罗经的轮胎式龙门起重机全自动纠偏方法

Automatic Correction of Rubber-tyred Gantry Crane Movements Based on Gyrocompass

在经济全球化、一带一路背景下,为了解决人工驾驶轮胎式龙门起重机效率低下问题,并提高港口集装箱装卸的自动化水平,亟需一种起重机自动纠偏系统。该纠偏方法采取电控罗经和激光距离传感器相结合的方式。与GPS方案比,电控罗经方案有不受外界磁场环境影响的优点。基于航向角和激光偏差值建立纠偏模型,可以克服轮胎吊胎压影响。起重机行进过程中对航向角偏差值积分,可对偏离方向超前预判,同时增加激光测距做横向偏差补偿。最后,对该方法进行了实施,通过实验验证了全自动调节后的偏差可以稳定在20cm以内,具有良好的纠偏效果,满足港口吊车的自动化纠偏任务要求。

This paper provides a new method of automatic correction of crane line movements.This paper adopts the method that combines an electric gyrocompass and distance sensors.Different from methods utilizing GPS positioning,the electronic gyrocompass is not interfered by the magnetic field and other circumstance.Then,a modeling formula that based on course angle and deviation is provided,which considers the tyre pressure difference.The integral of the deviation of course angle,can give a prediction.Meanwhile the laser distance sensor can provide the crosswise compensation.At last,this paper realized the method,and the crane had been tested that it is always kept in a straight line along the center of the road.