基于Q学习的汽车起重机回转冲击抑制方法

Slewing Impact Suppression Method of the Truck Crane Based on Q-learning

文章提出了一种基于Q学习理论的汽车起重机回转冲击抑制方法。通过对实际操作结果的在线训练,得出不同工况状态下能较好实现削减回转冲击的斜坡设定值,在后续操作中以不同的斜坡值分段构建斜坡曲线,弥补了现行方法斜坡值设定过于主观、固定,对环境适应性弱的不足,能有效减小汽车起重机回转系统停止过程中的液压冲击。

A method for suppressing the slewing impact of the truck crane based on Q-learning theory is proposed.Through the on-line training of the actual operation results,the slope setting value that can better reduce the slewing impact under different working conditions is obtained.In the subsequent operation,the slope curves are constructed in segments with different slope values,which compensates for the shortcomings of the current method of setting slope values too subjectively and fixedly with weak adaptability to the environment.It can effectively reduce the hydraulic impact in the stop process of the truck crane slewing system.