CAJ | 학술논문

本文针对复杂工作环境中桥式起重机工作特点和控制要求，利用遗传优化算法与栅格法结合的路径规划算法，实现了桥式起重机的全局静态环境路径规划。以CoDeSys PLC软件编程工具为开发平台，在智能路径规划的基础上，设计了具备快速、平稳运行和精确定位功能的桥式起重机智能运行控制系统，实现了对已知路径自动化运行，并利用其可视化显示器功能，对系统运行结果进行实时监控。
본문침대복잡공작배경중교식기중궤공작특점화공제요구，이용유전우화산법여책격법결합적로경규화산법，실현료교식기중궤적전국정태배경로경규화。이CoDeSys PLC연건편정공구위개발평태，재지능로경규화적기출상，설계료구비쾌속、평은운행화정학정위공능적교식기중궤지능운행공제계통，실현료대이지로경자동화운행，병이용기가시화현시기공능，대계통운행결과진행실시감공。
Aiming at the work characteristics and control requirements of overhead travelling cranes in complex working environment, a route planning algorithm combining genetic optimization and grid method is applied, thus route planning of overhead travelling crane in static environment is realized. On this basis, a fast and smooth travelling control system of overhead crane with precise positioning function is designed with CoDeSys PLC programming software to implement the automatic travelling along the known route. With visualization programming function of CoDeSys, the working condition of the system can be real-time monitored.