论文标题
启动的时间最佳控制受容器高度约束的约束
Time-optimal control of cranes subject to container height constraints
论文作者
论文摘要
端口操作的生产率和效率在很大程度上取决于可以再次卸载和加载船的速度。考虑到这一点，船上的起重机执行将容器运输到船上的关键任务，必须尽快进行。尽管在以前的研究中已经解决了最小化移动有效载荷所花费的时间的问题，但容器堆栈的不同高度并不是重点。在本文中，我们执行变量的变化并重新制定优化问题，以应对堆栈高度的约束。结果，这些约束变得琐碎且易于表示，因为当数字求解器离散问题时，它们会变成约束。为了验证这个想法，我们模拟了使用不同堆栈高度的小型场景。结果证实了我们的想法，堆栈约束的表示确实变得很琐碎。这种方法有望在实际的起重机操作中应用，并有可能增强其自动化。
The productivity and efficiency of port operations strongly depend on how fast a ship can be unloaded and loaded again. With this in mind, ship-to-shore cranes perform the critical task of transporting containers into and onto a ship and must do so as fast as possible. Though the problem of minimizing the time spent in moving the payload has been addressed in previous studies, the different heights of the container stacks have not been the focus. In this paper, we perform a change of variable and reformulate the optimization problem to deal with the constraints on the stack heights. As consequence, these constraints become trivial and easy to represent since they turn into bound constraints when the problem is discretized for the numerical solver. To validate the idea, we simulate a small-scale scenario where different stack heights are used. The results confirm our idea and the representation of the stack constraints become indeed trivial. This approach is promising to be applied in real crane operations and has the potential to enhance their automation.
