臂桥架集装箱起重机变幅机构优化设计
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摘要
岸边集装箱起重机主要有两大类型：桥式起重机与门座起重机。桥式起重机装卸效率高、工作范围大，但是造价高。门座起重机装卸效率低、工作范围小，但是造价和维护成本低。臂桥架起重机结合了桥式起重机和门座起重机的优点，装卸效率高、工作范围大，而且造价和基础土建费用低，其优越性非常显著。臂桥架变幅系统又是其核心技术。系统设计的优劣直接影响到整机的性能。正因为如此，有必要对变幅系统进行优化设计。
惩罚函数算法[Sequential Unconstrained Minimization Technique，简称SUMT]，即序列无约束极小化方法。它的基本思想是将约束优化问题中的不等式约束和等式约束经过加权转化后，和原目标函数结合形成新的目标函数—惩罚函数。这样我们就把一个有约束的优化问题转化为一系列的无约束优化问题。然后就可以用求解无约束优化问题的最优解方法进行求解。所得到的最优解序列将逐步逼近原问题的最优解。
本文以新型的臂桥架岸边集装箱起重机变幅机构组合式货物水平位移补偿系统的模型为研究对象，建立了吊重水平落差最小的数学模型。分析了影响货物水平性的主要因素及这些因素对影响的显著性，探讨了影响货物水平性的变化趋势与规律，研究了平移滑轮组的位置对补偿效果的影响。结合臂桥架变幅系统的具体数学模型和各种优化设计方法的适用范围与易用性，决定采用惩罚函数算法对模型进行优化设计。结合Delphi语言的可视化集成开发环境，编制了实用的优化设计和检验程序。该程序界面友好，易于修改参数，使用者可以方便快速的进行反复优化设计与检验。
本文研究成果主要体现在以下几个方面：
1．首次结合新型的臂桥架岸边集装箱起重机变幅机构的设计，实现了组合式吊重水平位移补偿系统模型的吊重水平落差最小的优化设计问题，为变幅机构的设计和检验提供了正确有效的设计理论与方法。
2．根据变幅机构货物水平位移补偿系统的原理和特点，确定了数学模型中的设计常量和设计变量，使得数学模型更加准确和完善。通过实例验证了影响货物水平性的主要因素对其影响的显著性，以及影响货物水平性的变化趋势与规律。推测并通过试验数据验证了平移滑轮组的位置对补偿效果没有任何影响。
3．根据臂桥架变幅系统具体的数学模型，选用惩罚函数算法对它进行了优化，同时运用Delphi语言编制了通用的优化设计和检验程序，为变幅机构的设计和检验提供了一个高效实用的工具。
There are two main kinds of port container cranes: the bridge crane and the brachial crane. The bridge crane has high efficiency on loading and unloading containers, it has a large working range as well. The brachial crane has lower efficiency and smaller working range than the bridge crane. But the bridge crane is much more expensive to manufacture and maintain than the brachial crane. The new type of crane-the briachial-bridge crane, which combines the advantages of the two types of container cranes, has high efficiency on loading and unloading containers and large working range. So this new kind of container crane has good superiority. And the briachial-bridge luffing mechanism includes the core technology of the crane. The result of the mechanism directly effect the result of the whole crane directly and remarkable. So it is necessary to optimize the luffing mechanism seriously.Sequential Unconstrained Minimization Technique is an indirect optimization method. The main idea of this method is to transfer an optimization problem which has constraints into an optimization problem without constraints by adding the constraints to the end of the optimization problem in a certain rule. Then we can use the usual technique which can only solve the optimization problem without constraints to solve the optimization problem with constraints. If the additional items accord with the constraints, the additional items are useless, or they would be "punished" and affect the result of the problem.In this paper, the optimization of the luffing system of the brachial-bridge portal container crane with combined compensating pulley is studied. Combining the design of portal crane luffing mechanism, this paper sets up the math model of the luffing system of the brachial-bridge container crane with combined compensating pulley. This paper analyses the main factors which has the prominent influence on the horizon of the container, discusses the changing direction and orderliness of the influence by the factor and researches the influence to the compensating effect by moving the pulley block. According to the idiographic math model of the brachial-bridge luffing system and the applying range and specialty of many kinds of optimization methods, decides to
use Sequential Unconstrained Minimization Technique to optimize the model. Combining with the visual integration explode environment of Delphi language, compiles the feasible optimization design and inspection program. The program has friendly interface and easy to modify. The user of the program can repeatedly optimize and inspect the problem conveniently and rapidly. There are three main fruit of the paper as follows:1. For the first time, combining with the luffing mechanism of the new type of brachial-bridge container portal crane, achieves the optimization of the combined compensating pulley system. And the paper supplies a right and efficient design theory and method for the design and inspection of the luffing mechanism of the crane.2. According to the theory and character of the combined compensating pulley system, confirms the constants and the variables of the math model. This makes the math model more precise and perfect. The experiment data prove that the main factors do have the influence on the horizon of the container and show the changing direction and orderliness of the influence by the factors. This paper confers and validates through the experiment data that it has no influence to the compensating effect by moving the pulley block.3. According to the idiographic math model of the brachial-bridge luffing system, use Sequential Unconstrained Minimization Technique to optimize the model. Use Delphi language to compile the feasible optimization design and inspection program. This program supplies an efficient and feasible tool for the optimization design of the luffing mechanism of the brachial-bridge crane.
惩罚函数算法[Sequential Unconstrained Minimization Technique，简称SUMT]，即序列无约束极小化方法。它的基本思想是将约束优化问题中的不等式约束和等式约束经过加权转化后，和原目标函数结合形成新的目标函数—惩罚函数。这样我们就把一个有约束的优化问题转化为一系列的无约束优化问题。然后就可以用求解无约束优化问题的最优解方法进行求解。所得到的最优解序列将逐步逼近原问题的最优解。
本文以新型的臂桥架岸边集装箱起重机变幅机构组合式货物水平位移补偿系统的模型为研究对象，建立了吊重水平落差最小的数学模型。分析了影响货物水平性的主要因素及这些因素对影响的显著性，探讨了影响货物水平性的变化趋势与规律，研究了平移滑轮组的位置对补偿效果的影响。结合臂桥架变幅系统的具体数学模型和各种优化设计方法的适用范围与易用性，决定采用惩罚函数算法对模型进行优化设计。结合Delphi语言的可视化集成开发环境，编制了实用的优化设计和检验程序。该程序界面友好，易于修改参数，使用者可以方便快速的进行反复优化设计与检验。
本文研究成果主要体现在以下几个方面：
1．首次结合新型的臂桥架岸边集装箱起重机变幅机构的设计，实现了组合式吊重水平位移补偿系统模型的吊重水平落差最小的优化设计问题，为变幅机构的设计和检验提供了正确有效的设计理论与方法。
2．根据变幅机构货物水平位移补偿系统的原理和特点，确定了数学模型中的设计常量和设计变量，使得数学模型更加准确和完善。通过实例验证了影响货物水平性的主要因素对其影响的显著性，以及影响货物水平性的变化趋势与规律。推测并通过试验数据验证了平移滑轮组的位置对补偿效果没有任何影响。
3．根据臂桥架变幅系统具体的数学模型，选用惩罚函数算法对它进行了优化，同时运用Delphi语言编制了通用的优化设计和检验程序，为变幅机构的设计和检验提供了一个高效实用的工具。
There are two main kinds of port container cranes: the bridge crane and the brachial crane. The bridge crane has high efficiency on loading and unloading containers, it has a large working range as well. The brachial crane has lower efficiency and smaller working range than the bridge crane. But the bridge crane is much more expensive to manufacture and maintain than the brachial crane. The new type of crane-the briachial-bridge crane, which combines the advantages of the two types of container cranes, has high efficiency on loading and unloading containers and large working range. So this new kind of container crane has good superiority. And the briachial-bridge luffing mechanism includes the core technology of the crane. The result of the mechanism directly effect the result of the whole crane directly and remarkable. So it is necessary to optimize the luffing mechanism seriously.Sequential Unconstrained Minimization Technique is an indirect optimization method. The main idea of this method is to transfer an optimization problem which has constraints into an optimization problem without constraints by adding the constraints to the end of the optimization problem in a certain rule. Then we can use the usual technique which can only solve the optimization problem without constraints to solve the optimization problem with constraints. If the additional items accord with the constraints, the additional items are useless, or they would be "punished" and affect the result of the problem.In this paper, the optimization of the luffing system of the brachial-bridge portal container crane with combined compensating pulley is studied. Combining the design of portal crane luffing mechanism, this paper sets up the math model of the luffing system of the brachial-bridge container crane with combined compensating pulley. This paper analyses the main factors which has the prominent influence on the horizon of the container, discusses the changing direction and orderliness of the influence by the factor and researches the influence to the compensating effect by moving the pulley block. According to the idiographic math model of the brachial-bridge luffing system and the applying range and specialty of many kinds of optimization methods, decides to
use Sequential Unconstrained Minimization Technique to optimize the model. Combining with the visual integration explode environment of Delphi language, compiles the feasible optimization design and inspection program. The program has friendly interface and easy to modify. The user of the program can repeatedly optimize and inspect the problem conveniently and rapidly. There are three main fruit of the paper as follows:1. For the first time, combining with the luffing mechanism of the new type of brachial-bridge container portal crane, achieves the optimization of the combined compensating pulley system. And the paper supplies a right and efficient design theory and method for the design and inspection of the luffing mechanism of the crane.2. According to the theory and character of the combined compensating pulley system, confirms the constants and the variables of the math model. This makes the math model more precise and perfect. The experiment data prove that the main factors do have the influence on the horizon of the container and show the changing direction and orderliness of the influence by the factors. This paper confers and validates through the experiment data that it has no influence to the compensating effect by moving the pulley block.3. According to the idiographic math model of the brachial-bridge luffing system, use Sequential Unconstrained Minimization Technique to optimize the model. Use Delphi language to compile the feasible optimization design and inspection program. This program supplies an efficient and feasible tool for the optimization design of the luffing mechanism of the brachial-bridge crane.
引文
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[11] 段兴、贺文杰、梁磊清、肖仁华编著．Delphi 6控件实用程序设计100例．北京：人民邮电出版社，2002
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[2] 袁福昌、李国湛、张君山编著．集装箱装卸搬运机械．武汉：港口装卸杂志社，1988．8．
[3] 伊万琴柯等编著，沈静宝等译．起重运输机械计算．北京：中国铁道出版社，1982
[4] 机械设计手册编委会编著，机械设计手册．北京：机械工业出版社，2004．
[5] [德]Scheffler，M．等编著，范祖尧等译．起重运输机械设计基础．北京：机械工业出版社，1991
[6] 《机械设计手册》联合编写组编著．机械设计手册中册：机械设计计算．北京：化学工业出版社，1989
[7] 章成器编著．优化设计方法在工程机械中的应用．上海：同济大学出版社，1993
[8] 孙国正、过玉卿编著．优化设计及应用(机械类专业用)．北京：人民交通出版社，2000．4．
[9] 孙靖民编著．机械优化设计．哈尔滨：机械工业出版社，2003．5．
[10] 飞思科技产品研发中心编著．DELPHI7入门与提高．北京：电子工业出版社，2003．1．
[11] 段兴、贺文杰、梁磊清、肖仁华编著．Delphi 6控件实用程序设计100例．北京：人民邮电出版社，2002
[12] 王小华编著．Delphi 5程序设计与控件参考．北京：电子工业出版社，2000
[13] 石国桢．门座起重机回转、变幅联合动作时各机构最佳速度的确定．武汉交通科技大学学报，1998．6．
[14] 陈贤．起重机滑轮组补偿臂架的优化设计．港口装卸，2003．4．
[15] 胡胜海、陈其廉．滑轮组补偿臂架补偿点的最优数值解法．哈尔滨船舶工程学院学报，1994．9．
[16] 田晓明、赵亚伟．臂架式起重机吊重水平移动的优化设计．太原重型机械学院学报，1990．4．
[17] 陈长宏．港口门座起重机轻型化的探索与实践．港口装卸．2002．2
[18] 王功勇、董明望、陈永生．四连杆组合臂架多用途门座式起重机补偿装置优化设计数学模型．港口装卸，1999．
[19] 郝红兵、赵元黎．门座起重机平衡滑轮补偿式臂架系统的优化设计．起重运输机械，1995．5．
[20] 苗明、屈福政、孙宏伟、宋本祥．门座起重机平衡滑轮补偿法变幅系统的优化．大连理工大学学报，1995．
[21] 中国沿海港口发展概况．http://www.tongji.edu.cn/～yandy/.
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