基于熵权-TOPSIS的水电厂桥式起重机综合多轨迹规划控制策略

Comprehensive Evaluation of Trajectory Planning Algorithms for Hydropower Plant Bridge Crane Based on EW-TOPSIS

水电厂桥式起重机负载大,制动时加速度变化和惯性摆动会导致桥机定位精度低,对此,提出了基于熵权-TOPSIS评价方法的综合多轨迹控制策略,应用于桥式起重机行走过程控制。通过Matlab仿真获得桥机4种行走轨迹曲线,将4种轨迹曲线和桥机模型导入到Adams运动仿真平台,由仿真结果构建轨迹评价指标体系,基于熵权-TOPSIS评价方法对不同位移下的桥机行走轨迹规划算法进行综合评分。评分结果表明,不同轨迹算法在不同位移条件下运动特性不同。因此,在桥机行走控制过程中,可根据桥机行走距离的不同选择不同的轨迹曲线,相比于单一轨迹曲线控制,多轨迹规划控制可有效提高水电厂桥机定位精度以及大部件吊装的安全性。

In this paper,a comprehensive multi-trajectory control strategy based on entropy weights(EW)-TOPSIS evaluation method is proposed to control the moving process of the bridge crane in hydropower plant,which is characterized by heavy load,acceleration change during braking and inertia swing.Four kinds of trajectory curves of the bridge crane are obtained through Matlab simulation,and the four trajectory curves and the bridge model are imported into the Adams motion simulation platform.The trajectory evaluation index system is constructed based on the simulation results,and a comprehensive score is performed on the trajectory planning algorithms of the bridge under different dislocations based on the EW-TOPSIS evaluation method.The scoring results show that different trajectory algorithms have different motion characteristics under different displacement conditions.Therefore,different trajectory curves can be selected according to the different travel distance of the bridge during the control process of bridge.Compared with the single trajectory curve control,the multi-trajectory planning control can effectively improve the positioning accuracy of the hydropower plant bridge crane and the safety of large component hoisting.