CN114488796A - Cable crane operation line planning method for inhibiting wind power random disturbance - Google Patents
Cable crane operation line planning method for inhibiting wind power random disturbance Download PDFInfo
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Abstract
The invention provides a cable crane operation line planning method for inhibiting wind power random disturbance, which comprises the step of providing a cable crane tank transportation path multi-target robust optimization method aiming at the problems of multi-target requirements and wind power uncertainty existing in the operation of a cable crane tank. And abstracting the cable crane operation path planning problem into a multi-target robust optimization model by using a robust transformation idea. In order to reduce the conservatism of the robust model, the characteristics of wind power uncertainty factors in the operation of a cable crane tank crane are represented by robust measure, a pareto frontier with robustness and a cable crane operation path are solved by adopting a cross entropy evolution algorithm, and the comparison analysis is carried out on the multi-target robust optimization result and the single-target robust optimization result. On the premise of multi-objective robust optimization, the evaluation values of the construction period, the mechanical use efficiency and the space exposure risk are respectively lower than the evaluation values under single-objective optimization, and objective basis is provided for the operation of the cable crane.
Description
Technical Field
The invention belongs to the field of multi-objective optimization of a transport path, and particularly relates to a cable crane operation line planning method for inhibiting wind power random disturbance.
Background
In the process of dam construction, various large construction machines are widely used. The cable crane has the advantages of being suitable for construction sites with complex terrains and difficult traffic, convenient to use, large in hoisting range, small in influence of flood and the like, and plays an important role in the whole dam construction process. However, in the dam construction process, as a plurality of construction machines run simultaneously, the working areas are overlapped, and the suspension arms are staggered vertically and horizontally, the longer the space exposure time is, the higher the probability of wind disturbance is, the greater the risk is, and the great influence is brought to the safety of dam face construction machines and workers. Meanwhile, most of the hydropower projects planned to be built in China are located in dry and hot valley areas, and the air current caused by the weather of the dry and hot valley passes over mountains to cause air burning and other disastrous strong winds, so that the cable crane can be deviated, and even objects falling from the air can be caused. In view of this, the robust optimization method for the cable crane running path for researching wind uncertainty disturbance has important significance in consideration of the wind action.
Chinese patent application "a combined positioning cable crane operation monitoring system and cable crane anti-collision regulation and control method" (patent application No. 201810145806.8) this application discloses a cable crane operation monitoring system and anti-collision regulation and control method. The patent carries out seamless real-time monitoring to the cable crane through combined positioning and realizes the visualization of the monitoring of the cable crane construction process. Meanwhile, the patent adopts a collision detection method and a collision prevention regulation and control method, and an effective collision prevention regulation and control mechanism of the cable crane is formed to ensure that the cable crane runs safely and efficiently. However, the patent researches an anti-collision method of the cable crane suspension tanks in the transportation process, the condition of delay or error exists in an online monitoring system, in addition, the prior optimization of the prior pre-control is not considered, and the anti-collision problem among the suspension tanks is not solved from the source.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cable crane operation route planning method for inhibiting wind power random disturbance, which is mainly used for optimizing cable crane operation paths under multiple targets.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a cable crane operation line planning method for inhibiting wind power random disturbance comprises the following steps:
s1: establishing transportation path constraint conditions in the working process of the cable crane tank crane, wherein the transportation path constraint conditions comprise a time constraint condition, a collision constraint condition and a height constraint condition;
s2: determining influence factors of a cable crane tank-lifting operation path under the action of wind power, wherein the influence factors comprise construction period, mechanical use efficiency and space exposure risk;
s3: establishing a multi-objective optimization model of the cable crane operation path by combining the transportation path constraint condition and taking the construction period, the mechanical use efficiency and the space exposure risk as targets;
s4: constructing a multi-target robust optimization model of the operation path of the cable crane by adopting a multi-target robust optimization method;
s5: and (3) acquiring a multi-target compromise solution set by adopting a cross entropy evolution algorithm through rapid non-dominated sorting and distribution of fitness values, realizing approximation of the solution set to the pareto frontier and acquiring the pareto optimal solution.
In a preferred embodiment, in step S1, the transportation path constraint condition establishing step in the cable crane tank crane operation process includes:
s11: the longest construction period T of the cable crane does not exceed a certain layer of dam bodyzmaxWith the proviso that the time constraint is expressed as:
Tz≤Tz max
in the formula, TzThe total construction time of a certain layer of dam body cable crane;
s12: suppose the position of the suspension tank is (x)i,yi,zi) The coordinates of the obstacle are (x)0,y0,z0) The minimum distance D between the suspension tank and the barrierminExpressed as:
randomness k according to the response time of the driver1Rope swing k2And wind pressure k3For buffer distance DhTaking into account the speed v of the cable machineiAnd normal braking acceleration aiThen buffer distance DhExpressed as:
the collision constraint can be expressed as:
Dh≤Dmin
s13: suppose L is the vertical distance from the loading point to the unloading point, H is the height of the suspension tank, HlbFor robust control of height, hdThe height constraint condition is expressed as the distance from the bottom end of the suspension tank to the dam surface:
L-(hd+h)≤Hlb。
in a preferred embodiment, the method for calculating the construction period in step S2 is as follows:
ts＝ta+tb+tc
in the formula, tsFor heavy-duty transport of cable cranes, ta、tb、tcRespectively the acceleration, uniform speed and deceleration time of heavy-load transportation of the cable crane; la、lb、lnRespectively carrying out acceleration, uniform speed and deceleration running horizontal distances for heavy-load transportation of the cable crane; v. ofnThe maximum horizontal speed of the trolley; a ise、ab are eachAcceleration and deceleration for heavy-load transportation of the trolley; i isxHorizontal distance from the loading point to the unloading point.
In a preferred embodiment, the step of calculating the machine usage efficiency in step S2 is as follows:
s21: according to the working state r of the warehouse construction machinery in the cable crane tank suspension influence space at each momentkOne-time round trip time T with cable craneaCalculating the effective working time T of the warehouse surface construction machineryk：
S22: the machine usage efficiency η may be expressed as:
in the formula: r iskIs variable 0-1, when the construction state is an effective operation state,r k1 is ═ 1; when the construction state is a non-effective construction state such as waiting and avoiding, rk＝0。
In a preferred embodiment, the calculation of the space exposure risk in step S2 includes the following steps:
s23: probability P of suspension tank appearing in space exposure area2Equal to the time t when the suspension tank appears in the space exposure areaaRound trip operation time T with cable craneaThe ratio of:
s24: according to the width c of the overlapped part when the cable crane and the bin surface vibrating machinery simultaneously work up and downyAnd width c of the vibrating machinedCalculating the number of vibrating machines occupied by the exposed area of the spacesComprises the following steps:
s25: time t when the vibrating machine appears in the exposed area of spacezCan be expressed as:
in the formula: r is the vibration radius of the vibrating machine, trFor the duration of action of the vibrating machine at an insertion point, tmThe moving time between adjacent insertion points, k is the number of vibration machines for the construction of the warehouse surface, cxIs the length of the overlap.
S26: according to the total concrete demand of a certain layer of working face and the volume of the tank crane, the total construction time of the layer is as follows:
in the formula: t iszTotal construction time, w, of cable crane for a layer of damxThe length of the surface of the storehouse to be watered, wyThe width of the bin surface to be poured is, sigma is a loose paving coefficient, c is the thickness of the bin dividing layer, and Q is the volume of the suspension tank;
s27: probability P of the occurrence of a vibrating machine in an exposed area of space under wind speed conditions3For the time t at which the vibrating machine is present in the exposed region of spacezThe total construction time T of the pouring layerzThe ratio of:
s28: according to the wind speed v of each stage near the dam sitefProbability P of1If the robust control wind speed is vlbObtaining an expected value E of the casting space exposure risk under the action of wind power by utilizing the joint probability:
in a preferred embodiment, in step S3, the multi-objective optimization model for the cable crane travel path is established as follows:
s31: defining an overlapping area according to the site construction condition, determining construction equipment parameters, F1For the purpose of construction period, F2For machine efficiency objectives, F3Is a space exposure risk target;
s32: by aiming at the construction period tsAnd analyzing the influence factors of the cable machine running path of the mechanical use efficiency eta and the space exposure risk E to obtain a multi-objective function for optimizing the cable machine running path.
In a preferred embodiment, in step S4, the process of constructing the multi-objective robust optimization model of the cable crane travel path is as follows:
S41：suppose that the cable machine runs round trip time TaWind speed vfAnd the running height of the cable crane, distributing the uncertain parameters in a bounded symmetric interval, and expressing the uncertain parameters by box uncertain sets, wherein the distribution information is unknown;
s42: round trip time of cable crane
Is a parameter of uncertain wind power in time constraints, TaIs the nominal value of the parameter or parameters,
for disturbance quantities, the set of uncertainties obeys the following constraints:
s43: determining the total construction time of a layer of dam cable crane
Distance from bottom end of suspension tank to dam surface
And wind speed
Parameters of uncertain wind power on time, height and wind speed constraints respectively are expressed in the form of:
Ωj＝{ξ||ξj|≤Γj,ξj∈[-1,1],Γj∈[0,1]}
in the formula: omegajIs xijPolyhedron set ofXi and xi in combinationjFor uncertainty coefficients, ΓjIn order to be a robust measure of the noise,
and
disturbance quantities of uncertain wind power in time, height and wind speed are respectively;
s44: elimination of project time target F1Target of machine use efficiency F2And space exposure risk target F3The difference of dimensions among different targets is used for carrying out standardization treatment on the multi-target robustness model:
in the formula: f. of1、f2And f3Evaluation values of construction period, mechanical utilization efficiency and space exposure risk, TpThe planned transit time for the cable machine to make one round trip.
In a preferred embodiment, the step of implementing the pareto optimal solution in step S5 is as follows:
s51: inputting information required by the cable crane transportation path, including the size Q of the suspension tank and the acceleration aeDeceleration abAnd uniform velocity vn. Setting parameters of vibrating machinery for operating the surface of the bin and the size of the surface of the bin to be poured, initializing a charging point, a discharging point, maximum calculation times and a robust measure gammajGenerating an initial route by using the parameters;
s52: and respectively calculating robust single-objective optimization and multi-objective optimization function values under different gamma values for the route totality. Obtaining a first generation subgroup of robust optimization of a cable crane running path through rapid non-dominated sorting and fitness value distribution;
s53: improving the stability of the mean and variance vector parameters by using smoothing operation, updating the parameters, and obtaining the evolution direction of the individuals by comparing the similarities and differences among the evolution individuals;
s54: generating new filial generations by updating the mean value and the variance, and performing preferential selection on the filial generation individuals by using non-dominated sorting;
s55: and if the new path population reaches the maximum calculation times, obtaining a pareto optimal solution, and terminating the whole path optimization.
The cable crane operation line planning method for inhibiting wind power random disturbance provided by the invention has the following beneficial effects:
1. the space exposure risk between the cable crane suspension tank and the dam face working compactor is considered, the space exposure risk between the cable crane suspension tank and the dam face working compactor is quantified, the larger the space exposure risk is, the larger the influence on the safety of construction machinery and personnel is, the space exposure risk is brought into a path optimization comprehensive evaluation function, and the path optimization result is more rigorous and accurate.
2. Considering that as the robustness conservatism increases, the estimated time limit and the estimated machine use efficiency decrease, the estimated space exposure risk increases, which indicates that the conservatism increases, the time limit needs to be increased and the machine use efficiency needs to be reduced to restrain the wind uncertainty interference, so that the space exposure risk is reduced, the optimized cable running path scheme keeps feasibility for all scenes in the wind uncertainty set.
3. The method has the advantages that on the premise of multi-objective robust optimization, the evaluation values of the construction period, the mechanical use efficiency and the space exposure risk are respectively lower than the evaluation values of the construction period, the mechanical use efficiency and the space exposure risk under the condition of single-objective optimization, but the multi-objective robust optimization can effectively balance the benefits among the construction period, the mechanical use efficiency and the space exposure risk instead of pursuing the optimization of a single objective, and objective basis is provided for the operation of the cable crane.
4. The invention has the significance that with the shift of the center of gravity of hydropower development in China to the western region, the meteorological conditions are more severe and the situation of exceeding the robust control wind power level is more and more common. Therefore, establishing a path adjusting mechanism for self-adaptive overproof wind power according to the wind power monitoring information is the next research direction.
Drawings
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
FIG. 1 is a diagram of the operation rule of a cable crane under heavy-duty transportation;
fig. 2 is an initial route diagram for cable crane transportation;
FIG. 3 shows the pareto front for different periods of time;
FIG. 4 shows the pareto front for different mechanical efficiency;
FIG. 5 is a spatial exposure pareto front at different positions;
FIG. 6 is a robust optimization of a cable haulage path;
FIG. 7 is a flow chart of a solution for the pareto optimal solution;
FIG. 8 is a table of key parameter techniques;
FIG. 9 is a table comparing robust single-target and multi-target optimization results.
Detailed Description
In the present embodiment, the main technical parameters are shown in fig. 8. A cable crane operation line planning method for inhibiting wind power random disturbance comprises the following steps:
step S1: firstly, the transportation path constraint conditions in the cable crane tank-lifting working process are established, wherein the transportation path constraint conditions comprise a time constraint condition, a collision constraint condition and a height constraint condition.
The continuous transportation of the cable machine mainly comprises: the method comprises n cyclic processes of loading, safety inspection, lifting of a hanging tank, heavy-load transportation, descending of the hanging tank, alignment, unloading, lifting of the hanging tank, return in a no-load mode, descending of the hanging tank to a loading platform and the like. The cable crane heavy-load transportation speed undergoes the processes of acceleration, uniform speed, deceleration and the like, and the specific operation rule is shown in figure 1.
Preferably, in step S1, the transportation path constraint condition establishing step in the cable crane tank hoisting process includes: s11: the construction period is an important control factor of engineering construction, and the longest construction period T of the dam body cable crane does not exceed a certain layerzmaxWith the proviso that the time constraint is expressed as:
Tz≤Tzmax
in the formula, TzThe total construction time of the cable crane of a certain layer of the dam body.
The risk of collision is mainly determined by the minimum distance between the tank and the obstacle, which mainly includes the dam and the dam slope, assuming the tank is located at (x)i,yi,zi) The coordinates of the obstacle are (x)0,y0,z0) The minimum distance D between the suspension tank and the barrierminExpressed as:
s13: randomness k according to the response time of the driver1Rope swing k2And wind pressure k3The influence on the buffer distance, taking into account the speed v of the cable craneiAnd normal braking acceleration aiThen buffer distance DhExpressed as:
s14: the collision constraint can be expressed as:
Dh≤Dmin
s15: suppose L is the vertical distance from the loading point to the unloading point, H is the height of the suspension tank, HlbFor robust control of height, hdThe height constraint condition is expressed as the distance from the bottom end of the suspension tank to the dam surface:
L-(hd+h)≤Hlb
step S2, determining influence factors of the cable crane tank-lifting operation path under the action of wind power, wherein the influence factors comprise construction period, mechanical use efficiency and space exposure risk;
preferably, the calculation method of the construction period in step S2 is as follows:
ts＝ta+tb+tc
in the formula, tsFor heavy-duty transport of cable cranes, ta、tb、tcRespectively the acceleration, uniform speed and deceleration time of heavy-load transportation of the cable crane; la、lb、lnRespectively carrying out acceleration, uniform speed and deceleration running horizontal distances for heavy-load transportation of the cable crane; v. ofnIs a small carRunning the maximum horizontal speed; a ise、ab are eachAcceleration and deceleration for heavy-load transportation of the trolley; i isxHorizontal distance from the loading point to the unloading point.
Preferably, the step of calculating the machine usage efficiency in step S2 is as follows:
s21: the mechanical service efficiency influences the construction cost, and because the cost of starting and stopping the cable crane is high, in order to reduce the space exposure risk, if the distance between the bottom end of the hoisting tank and the dam surface is less than h in the transportation process of the cable cranedAnd immediately stopping construction on the warehouse construction machinery in the cable crane tank suspension influence space. According to the working state r of the warehouse construction machinery in the cable crane tank suspension influence space at each momentkOne-time round trip time T with cable craneaCalculating the effective working time T of the warehouse surface construction machineryk：
S22: the machine usage efficiency η may be expressed as:
in the formula: r iskIs variable from 0 to 1, and r is a variable when the construction state is an effective operation state k1 is ═ 1; when the construction state is a non-effective construction state such as waiting and avoiding, rk＝0。
Preferably, the calculation of the space exposure risk in the second step is as follows:
the vibrating machine has the longest vibrating and compacting time, so the working space of the bin surface machine is analyzed by taking the vibrating machine as an example. The cable machine and the bin surface vibrating process are constructed in parallel, when the cable machine suspension tank runs to the position above the vibrating bin surface, the working space of the vibrating machine on the bin surface is possibly exposed in the influence space range of the suspension tank, and an overlapped space which is communicated up and down is formed at the same time. At this time, the cable crane hoist and the vibrating machine compete to occupy the same limited space at the same time, and thus, the space exposure risk is generated.
S23: width c of the overlapping partyThe deviation of the suspension tank in the wind direction is influenced by wind force. Probability P of the suspension tank appearing in the space exposure area under certain wind speed condition2Equal to the time t when the suspension tank appears in the space exposure areaaRound trip operation time T with cable craneaThe ratio of:
s24: according to the width c of the overlapped part when the cable crane and the bin surface vibrating machinery simultaneously work up and downyAnd width c of the vibrating machinedCalculating the number of vibrating machines occupied by the exposed area of the spacesComprises the following steps:
s25: time t when the vibrating machine appears in the exposed area of spacezCan be expressed as:
in the formula: r is the vibration radius of the vibrating machine, trFor the duration of action of the vibrating machine at an insertion point, tmThe moving time between adjacent insertion points, k is the number of vibration machines for the construction of the warehouse surface, cxIs the length of the overlap.
S26: the construction time of a dam body on a certain layer is approximately equal to the running time of a cable crane, the running time of the cable crane is determined by the number of times of round trip and landing, and according to the total concrete demand of a working surface on a certain layer and the volume of a suspension tank, the total construction time of the layer is as follows:
in the formula: t iszTotal construction time, w, of cable crane for a layer of damxThe length of the surface of the storehouse to be watered, wyWidth of the storehouse surface to be wateredSigma is the loose coefficient, c is the thickness of the bin layer, and Q is the volume of the suspension tank.
S27: probability P of the occurrence of a vibrating machine in an exposed area of space under wind speed conditions3For the time t at which the vibrating machine is present in the exposed region of spacezThe total construction time T of the pouring layerzThe ratio of:
s28: according to the wind speed v of each stage near the dam sitefProbability P of1If the robust control wind speed is vlbObtaining an expected value E of the casting space exposure risk under the action of wind power by utilizing the joint probability:
and step S3, establishing a multi-objective optimization model of the cable crane operation path by combining the transportation path constraint conditions and taking the construction period, the mechanical use efficiency and the space exposure risk as targets.
Preferably, in step S3, the multi-objective optimization model for cable crane travel path is established as follows:
s31: defining an overlapping area according to the site construction condition, determining construction equipment parameters, F1For the purpose of construction period, F2For machine efficiency objectives, F3Is a space exposure risk objective.
S32: by aiming at the construction period tsAnd analyzing the influence factors of the cable machine running path of the mechanical use efficiency eta and the space exposure risk E to obtain a multi-objective function for optimizing the cable machine running path.
Step S4: and constructing a multi-target robust optimization model of the cable crane operation path by adopting a multi-target robust optimization method.
Preferably, in step S4, the process of constructing the multi-objective robust optimization model of the cable crane travel path is as follows:
s41: suppose that the cable machine runs for a round trip time TaAnd the wind speed vfThe method comprises the following steps of (1) calculating the running height of the cable crane, distributing uncertain parameters in a bounded symmetrical interval, and representing the uncertain parameters by box uncertain sets, wherein distribution information is unknown;
s42: round trip time of cable crane
Is a parameter of uncertain wind power in time constraints, TaIs the nominal value of the parameter or parameters,
for disturbance quantities (typically positive values), the uncertainty set follows the following constraints:
s43: determining the total construction time of a layer of dam cable crane
Distance from bottom end of suspension tank to dam surface
And wind speed
Respectively, parameters of uncertain wind power on time, height and wind speed constraints, and the expression form of the parameters is as follows:
Ωj＝{ξ||ξj|≤Γj,ξj∈[-1,1],Γj∈[0,1]}
in the formula: omegajIs xijSet of polyhedrons of, xijFor uncertainty coefficients, ΓjIn order to be a robust measure of the noise,
and
respectively, the disturbance amount of uncertain wind power in time, height and wind speed.
To verify the effectiveness of the robust measure on model conservative level adjustment, six initial lines of the cable crane tank operation are randomly generated, as shown in fig. 2.
Adjusting a robust measure Γ1The values of (a) and (b) show the variation trend of the evaluation value of the construction period under different robust measures, as shown in fig. 3. With gamma1The probability of uncertain wind power in the cable crane operation round-trip time constraint is continuously improved, and the optimization results of all the route construction periods are also continuously reduced.
Take optimization of Path 1 as an example, adjust ΓjThe value of (A) obtains robust optimization results of mechanical use efficiency and space exposure risk under different robust conservation degrees, as shown in figure 4, with gamma1And Γ3The value is continuously increased, and the machine use efficiency evaluation value is continuously reduced.
Take optimization of Path 1 as an example, adjust ΓjThe value of (A) obtains the robust optimization results of mechanical use efficiency and space exposure risk under different robust conservativeness, as shown in FIG. 5, when gamma is2And Γ4When the value is 0, all uncertain variables are taken as standard values, and for determining the optimization result in the environment, the spatial exposure risk evaluation value is minimum at the moment and is along with gamma2And Γ4The value is continuously increased, the conservation degree is continuously improved, and the space exposure risk assessment value is gradually increased.
At 0.4 x ΓjFor example, asAnd drawing a robust optimization result of the cable crane transportation path, as shown in fig. 6. The route in the comparison graph shows that: the horizontal transportation time of the route with optimized construction period is shorter, so that the round-trip time of the cable crane is shorter, and the construction period is shortest; the average value of the vertical distance from the cable crane suspension tank to the dam surface in the path of the mechanical service efficiency is maximum, the stop time of the dam surface construction machinery is relatively short, and the mechanical service efficiency is optimal; space exposure optimization path, cable crane hoist transport shuttle total time is longer, resulting in space exposure desired to be minimal. Compared with a single-target optimization result, the multi-target optimization route is considered more comprehensively.
According to fig. 9, the comparison table analysis of the robust single-target and multi-target optimization results shows that under the premise of multi-target robust optimization, the evaluation values of the construction period, the mechanical use efficiency and the spatial exposure risk are respectively lower than the respective evaluation values under the condition of single-target optimization, but the multi-target robust optimization can effectively balance the benefits among the construction period, the mechanical use efficiency and the spatial exposure risk instead of pursuing the optimization of a single target, so that objective basis is provided for cable transportation.
And considering the competitive relationship among different targets, the simultaneous optimization of multiple targets is difficult to realize. The traditional processing method is mainly that a decision maker sets the preference degree and priority of each target according to prior knowledge, but the prior knowledge is usually unknown. Therefore, a cross entropy evolution algorithm is adopted, a multi-target compromise solution set is obtained through rapid non-dominated sorting and distribution of fitness values, and the solution set approaches to the pareto front.
Elimination of project time target F1Target of machine use efficiency F2And space exposure risk target F3The difference of dimensions among different targets is used for carrying out standardization treatment on the multi-target robustness model:
in the formula: f. of1、f2And f3Evaluation values for construction period, machine utilization efficiency and space exposure risk, TpThe planned transit time for the cable machine to make one round trip.
Step S5: and (3) acquiring a multi-target compromise solution set by adopting a cross entropy evolution algorithm through rapid non-dominated sorting and distribution of fitness values, realizing approximation of the solution set to the pareto frontier and acquiring the pareto optimal solution.
In a preferred embodiment, as shown in fig. 7, the step of implementing the pareto optimal solution in step S5 is as follows:
s51: inputting information required by the cable crane transportation path, including the size Q of the suspension tank and the acceleration aeDeceleration abAnd uniform velocity vn. Setting parameters of vibrating machinery for operating the surface of the bin and the size of the surface of the bin to be poured, initializing a charging point, a discharging point, maximum calculation times and a robust measure gammajGenerating an initial route by using the parameters;
s52: and respectively calculating robust single-objective optimization and multi-objective optimization function values under different gamma values for the route totality. Obtaining a first generation subgroup of robust optimization of a cable crane running path through rapid non-dominated sorting and fitness value distribution;
s53: improving the stability of the mean and variance vector parameters by using smoothing operation, updating the parameters, and obtaining the evolution direction of the individuals by comparing the similarities and differences among the evolution individuals;
s54: generating new filial generations by updating the mean value and the variance, and performing preferential selection on the filial generation individuals by using non-dominated sorting;
s55: and if the new path population reaches the maximum calculation times, obtaining a pareto optimal solution and terminating the whole path optimization, otherwise, returning to the step S53 and continuing the optimization.
Claims (8)
1. A cable crane operation line planning method for inhibiting wind power random disturbance is characterized by comprising the following steps: the method comprises the following steps:
s1: establishing transportation path constraint conditions in the working process of the cable crane tank crane, wherein the transportation path constraint conditions comprise a time constraint condition, a collision constraint condition and a height constraint condition;
s2: determining relevant influence factors of a cable crane tank crane running path, including construction period, mechanical use efficiency and space exposure risk;
s3: establishing a multi-objective optimization model of the cable crane operation path by combining the transportation path constraint condition and taking the construction period, the mechanical use efficiency and the space exposure risk as targets;
s4: constructing a multi-target robust optimization model of the cable crane operation path by adopting a multi-target robust optimization method;
s5: and (3) acquiring a multi-target compromise solution set by adopting a cross entropy evolution algorithm through rapid non-dominated sorting and distribution of fitness values, realizing approximation of the solution set to the pareto frontier and acquiring the pareto optimal solution.
2. The method for planning the operation route of the cable crane for inhibiting the wind power random disturbance according to claim 1, wherein the method comprises the following steps: in step S1, the transportation path constraint condition establishment step in the cable crane tank-lifting work process is as follows:
s11: the longest construction period T of the cable crane does not exceed a certain layer of dam bodyzmaxWith the proviso that the time constraint is expressed as:
Tz≤Tzmax
in the formula, TzThe total construction time of a certain layer of dam body cable crane;
s12: suppose the position of the tank is (x)i,yi,zi) The coordinates of the obstacle are (x)0,y0,z0) The minimum distance D between the suspension tank and the barrierminExpressed as:
randomness k according to the response time of the driver1Rope swing k2And wind pressure k3For buffer distance DhTaking into account the speed v of the cable machineiAnd normal braking acceleration aiThen buffer distance DhExpressed as:
the collision constraint can be expressed as:
Dh≤Dmin
s13: suppose L is the vertical distance from the loading point to the unloading point, H is the height of the suspension tank, HlbFor robust control of height, hdThe height constraint condition is expressed as the distance from the bottom end of the suspension tank to the dam surface:
L-(hd+h)≤Hlb。
3. the method for planning the operation route of the cable crane for inhibiting the wind power random disturbance according to claim 1, wherein the method comprises the following steps: the construction period in step S2 is calculated as follows:
ts＝ta+tb+tc
in the formula, tsThe construction period of heavy-load transportation of the cable crane is shortened; t is ta、tb、tcRespectively the acceleration, uniform speed and deceleration time of heavy-load transportation of the cable crane; la、lb、lnRespectively carrying out acceleration, uniform speed and deceleration running horizontal distances for heavy-load transportation of the cable crane; v. ofnThe maximum horizontal speed of the trolley; a ise、abAcceleration and deceleration of heavy-load transportation of the trolley are respectively; i isxHorizontal distance from the loading point to the unloading point.
4. The method for planning the operation route of the cable crane for inhibiting the wind power random disturbance according to claim 1, wherein the method comprises the following steps: the mechanical use efficiency calculating step in step S2 is as follows:
s21: according to the working state r of the warehouse construction machinery in the cable crane tank suspension influence space at each momentkOne-time round trip time T with cable craneaCalculating the effective working time T of the construction machineryk：
S22: the machine usage efficiency η may be expressed as:
in the formula: r iskIs variable from 0 to 1, and r is a variable when the construction state is an effective operation statek1 is ═ 1; when the construction state is a non-effective construction state such as waiting and avoiding, rk＝0。
5. The method for planning the operation route of the cable crane for inhibiting the wind power random disturbance according to claim 4, wherein the method comprises the following steps: the spatial exposure risk calculation step in step S2 is as follows:
s23: probability P of suspension tank appearing in space exposure area2Equal to the time t when the suspension tank appears in the space exposure areaaRound trip operation time T with cable craneaThe ratio of:
s24: according to the width c of the overlapped part when the cable crane and the bin surface vibrating machinery simultaneously work up and downyAnd width c of the vibrating machinedCalculating the number of vibrating machines occupied by the exposed area of the spacesComprises the following steps:
s25: time t when the vibrating machine appears in the exposed area of spacezCan be expressed as:
in the formula: r is the vibration radius of the vibrating machine, trFor the duration of action of the vibrating machine at an insertion point, tmThe moving time between adjacent insertion points, k is the number of vibration machines for the construction of the warehouse surface, cxIs the length of the overlap;
s26: according to the total concrete demand of a certain layer of working face and the volume of the tank crane, the total construction time of the layer is as follows:
in the formula: t iszTotal construction time, w, of cable crane for a layer of damxThe length of the surface of the storehouse to be watered, wyThe width of the bin surface to be poured is, sigma is a loose paving coefficient, c is the thickness of the bin dividing layer, and Q is the volume of the suspension tank;
s27: probability P of the vibrating machine appearing in the exposed area of the space under the condition of wind speed3For the time t at which the vibrating machine is present in the exposed region of spacezTotal construction time T of the pouring layerzThe ratio of:
s28: according to the wind speed v of each stage near the dam sitefProbability P of1If the robust control wind speed is vlbObtaining an expected value E of the casting space exposure risk under the action of wind power by utilizing the joint probability:
6. the method for planning the operation route of the cable crane for inhibiting the wind power random disturbance according to claim 1, wherein the method comprises the following steps: in step S3, the multi-objective optimization model for the cable crane travel path is established as follows:
s31: determining the weight according to the construction situationOverlap area, determination of construction equipment parameters, F1For the purpose of construction period, F2For machine efficiency objectives, F3Is a space exposure risk target;
s32: by aiming at the construction period tsAnalyzing the influence factors of the cable machine running path of the mechanical use efficiency eta and the space exposure risk E to obtain a multi-objective function for optimizing the cable machine running path;
7. the method for planning the operation route of the cable crane for inhibiting the wind power random disturbance according to claim 1, wherein the method comprises the following steps: in step S4, the process of constructing the multi-objective robust optimization model of the cable crane travel path is as follows:
s41: suppose that the cable machine runs round trip time TaAnd the wind speed vfAndrunning height of cable craneDistributing uncertain parameters in a bounded symmetric interval, wherein distribution information is unknown, and expressing the uncertain parameters by a box uncertain set;
s42: round trip time of cable crane
Is a parameter of uncertain wind power in time constraints, TaIs the nominal value of the parameter or parameters,
for disturbance quantities, the set of uncertainties obeys the following constraints:
s43: determining the total construction time of a certain layer of dam cable crane
Distance from bottom end of suspension tank to dam surface
And wind speed
Parameters of uncertain wind power on time, height and wind speed constraints respectively are expressed in the form of:
Ωj＝{ξ||ξj|≤Γj,ξj∈[-1,1],Γj∈[0,1]}
in the formula: omegajIs xijSet of polyhedrons of, xijFor uncertainty coefficients, ΓjIn order to be a robust measure of the noise,
and
disturbance quantities of uncertain wind power in time, height and wind speed are respectively;
s44: elimination of project time target F1Target of machine use efficiency F2And space exposure risk target F3The difference of dimensions among different targets is used for carrying out standardization treatment on the multi-target robustness model:
in the formula: f. of1、f2And f3Evaluation values for construction period, machine utilization efficiency and space exposure risk, TpThe planned transit time for the cable to make one round trip.
8. The method for planning the operation route of the cable crane for inhibiting the wind power random disturbance according to claim 1, wherein the method comprises the following steps: the step of implementing the pareto optimal solution in step S5 is as follows:
s51: inputting information required by the cable crane transportation path, including the size Q of the suspension tank and the acceleration aeDeceleration abAnd uniform velocity vnSetting parameters of vibrating machinery for bin surface operation and size of bin surface to be poured, initializing charging point, discharging point, maximum calculation times and robust measure gammajGenerating an initial route by using the parameters;
s52: for the total route, robust single-target optimization and multi-target optimization function values under different gamma values are respectively calculated, and a first generation subgroup of robust optimization of the cable crane running path is obtained through rapid non-dominated sorting and fitness value distribution;
s53: improving the stability of the mean and variance vector parameters by using smoothing operation, updating the parameters, and obtaining the evolution direction of the individuals by comparing the similarities and differences among the evolution individuals;
s54: generating new filial generations by updating the mean value and the variance, and performing preferential selection on the filial generation individuals by using non-dominated sorting;
s55: and if the new path population reaches the maximum calculation times, obtaining a pareto optimal solution, and terminating the whole path optimization.
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| JPH06115878A (en) * | 1992-10-06 | 1994-04-26 | Ohbayashi Corp | Control system for cable crane |
| WO2019229751A1 (en) * | 2018-05-30 | 2019-12-05 | Syracuse Ltd. | System and method for transporting a swaying hoisted load |
| CN112487695A (en) * | 2020-11-30 | 2021-03-12 | 中南大学 | Multi-target intelligent comprehensive line selection method for railway in complex environment |
| CN112765733A (en) * | 2021-01-26 | 2021-05-07 | 三峡大学 | Multi-objective optimization method for cable crane tank-hanging transportation path |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06115878A (en) * | 1992-10-06 | 1994-04-26 | Ohbayashi Corp | Control system for cable crane |
| WO2019229751A1 (en) * | 2018-05-30 | 2019-12-05 | Syracuse Ltd. | System and method for transporting a swaying hoisted load |
| CN112487695A (en) * | 2020-11-30 | 2021-03-12 | 中南大学 | Multi-target intelligent comprehensive line selection method for railway in complex environment |
| CN112765733A (en) * | 2021-01-26 | 2021-05-07 | 三峡大学 | Multi-objective optimization method for cable crane tank-hanging transportation path |
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