有色配料系统行车三维路径优化控制

Optimal Control of Three-Dimensional Traffic Path of Bridge Crane in Non-Ferrous Batching System

冶炼现场现有配料系统普遍停留在设备自动化阶段,即通过起重机等设备免除人力搬运,但仍需人工就地输入系统运行指令。目前,国内已有不少铜铅锌冶炼厂装备智能行车以实现配料过程的自动化。然而,受到恶劣工作环境影响,实际生产过程中经常存在抓空、抓偏等问题。以提升有色配料系统控制品质为目标,提出了采用集成激光扫描仪连续测量料面高度的系统优化设计,在此基础上对Shepard插值算法进行优化以表征物料分布情况;以插值优化计算结果为依据,设计了行车路径自动规划策略,并进一步提出蚁群优化算法用于最优行车系统路径选取。仿真结果表明,所述系统优化设计改造方案、优化插值方法、路径自动规划策略和蚁群优化路径选择算法能够实现有色配料系统行车运行轨迹的自动规划。优化方案具冇路径规划速度快、寻优精度可按需调控等优势,对现场生产具有一定的指导意义。

The existing batching system in smelting site generally stays in the stage of equipment automation,which means that manual handling is replaced by cranes and other equipment,but the system operation instructions still need to be manually input on site.At present,many domestic copper,lead and zinc smelters have been equipped with intelligent vehicles to realize the automation of the batching process.However,due to the impact of bad working environment,there are frequent problems in the actual production process,such as empty grasp and wrong grasp.In order to improve the control quality of the non-fenous batchi ng system,optimal design of system in which an integrated laser scanner was used to continuously measure the material surface height is proposed.Based on it,the Shepard interpolation algorithm was optimized to characterize the material distribution.Based on the results of interpolatio n optimization,the automatic route planning strategy is designed,a nd the ant colony optimization algorithm is put forward to select the optimal route for the driving system.The simulation results show that the system optimization design modification scheme,optimization interpolation method,automatic path planning strategy and optimal ant colon、path selection algorithm can realize the automatic path planning of non-ferrous batching system.The optimization scheme has the advantages of fast path planning speed and adjustable optimization precision on demand,which has a certain guiding significance for field production.