锌电解行车自适应在线轨迹规划方法及应用

Adaptive online trajectory planning method and application for zinc electrolysis cranes

针对锌电解车间现场酸雾、水蒸气等恶劣环境因素引起行车打滑,导致其制动后滑行距离难以控制,定位效率低且误差大的问题,提出一种基于轨道状态评估的自适应在线轨迹规划方法.首先,针对行车轨道摩擦系数变化且无法确定的问题,引入反应轨道打滑程度的行车滑移率的概念对轨道状态进行评估;在此基础上,根据评估结果以及分级制动策略,自适应更新速度轨迹并确定行车最佳制动时机;最后通过数值仿真以及现场的实际应用效果对所提的方法进行验证.仿真及应用效果表明:所提方法能使锌电解行车有效载荷的摆角小于1°在总长60 m的轨道条件下,行车的定位误差小于3 mm;与人工驾驶相比,减速制动阶段的制动效率平均提高28%,取得了良好的运行效果.

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.