Prlnled
in
0005 1098 87 $ : 1 0 0 + 0 0 0
Pergamon Journals Lid
( 1987 Internatmnal Federation of Automatic Control
Great Brtlam
1 INTRODUCTION
438
J W AUERNIGand H TROGER
III
I
J
//
M__
FIG 1 Ship unloader, showingstarting point 0 (rope length 1o)and end point E (IL) of the load, transfer distance
S of the trolley and three different ldeahzed load transfer paths A, B and C
/ ~ / / / ~ / / / / " / / / / / /.~//~//, /, / / / / I / /
lmL9
FIG 2 Mechamcalmodel of the load-trolley system with the
three degrees of freedom xr, qLI and the posmon Xsof the mass
center
~ b + 2 I ~ b - I q~)
FT
(5)
ot = it = m L / m T
~1 T
I q ~ + 2 1 ~ b + g ~b=Xr
- - ( 1 +mE),+m_ALmH ( g + X r ~b)= Fn-mH ,1,
where m L is the mass of the load, and mT is a
reduced mass includmg the mass of the trolley and
the equivalent contributions of the rotating parts
of the trolley travel mechamsm Furthermore, w~th
the radius r of the rope drum the reduced quantities
m . = l n / r 2 and F n = M H / r of the hoisting mechanIsm have been mtroduced
There are two basically different cases for the
control of the trolley traversing motion Either
xr = at(t), which means that the position of the
trolley is controlled (position controlled system), or
F r = FT(t), which is a force controlled system The
following control variables are mtroduced
Fr(t)
aT(t)
U T
439
--
or
UT
aTm,,t
--
(2)
VH
fTm,,
VH-- -
(6)
x/g lmm
the equations of motmn (4) now read
O"' "4- ~ (1) m~- UT
2 ~"+2
to<--t<--t E
2' O ' + ( 1 + ~ ) ~ = U T
FTmax=
mT
max
to<-t<-tL
~' __ VH
(IFT(t)I)
T = fDma x t,
o" - -
('Dmax= / ~ m ~ n '
XT g
-
aTmax /ram'
(I)=
q~ and
aTmax
l
2 = 7-,
lmm
(3)
__Fn
mH g
(7)
(4)
(8)
440
:",
1L---.
"LJ-_-&
M
-I?
"'"II
II OV,..~
-4
....
_L--~
'
UT =
{OT
(12)
r, M
r,
{0
4 FORMULATION
91....
a s = a - ! -+ ~
optimal solutmn
constraint
fl=/
(13)
(14)
}XTI ~ VTmax
and
(9)
and the control vector
(15)
F T = FT(XT(t), t)
(10)
1+~
t,_ t ~ t ~ t,
(1 1)
xk = - ( 1 + ~)
X3 +
Ul
(16)
X'5 = U2
(17)
(18)
and
g l = VTma x
--
X2
--
1+~
x4 > 0
and
g 2 = x 5 - 1 >_0
(20)
respectwely, where
Gf
VTmax
~lm,.
aTmal
441
f?
2'
1 - ;to
TE
dt ~ max
(27)
This gives
2(~) = 20 + 2' T,
-
2E = 1
--
(28)
T O
(21)
The Hamlltonlan H IS given by
fto
EfO(x(t),u(t),t) dt
---1.
max
(22)
H = - 1 + Pl x2 + P3 x4 - (1 + ~) P4 x3
2
+(Pf~+~+Pa) ul
(29)
subject to
x(t) = f(x(t),u(t),t),x,f~R~,u~R ",
X(to) = x0
and
X(tE) =
u(t) e U ~ R',
xE,
(23)
(24)
(25)
L = H + ql
I"Tmax - -
x2 - -1 +
x,
(30)
p]=O
p~=(l+~)P~
2
g(x(t), t) > 0,
g e R~
P2 = --Pl + ql
can be found In Kamlen and Schwartz (1981) on
pp 220-221 and in Theorem 8 in Selerstad and
Sydsaeter (1977), where in addition to the usual
necessary conditions for optimality also sufficient
conditions making use of the concavity of the
maximized Hamlltonlan and the state constramts
are formulated
5 RESULTS
Though the state equations (16) and the corresponding adjomt equations are nonlinear and
coupled, analytic solutions can be given This is
done by obtaining solutions of the unconstrained
and the constrained problem and piecing them
together
23
4-8
(31)
(26)
P4 = - - P 3 + T - ' 7 - - 1W~
ql
udO =
e[--1,
--1
>0
+1]
If P2(Z) + p,(T)
=0
<0
(32)
442
J W AUERNIGand H TROGER
p2
!,+0<
- 1:)4
T02
T23
T~Tss
-1
~-"
_%/
t~
p] = A
P2 = B - - A
P3 --
--2 (1 + ~t)
,~,
[C Jo(z) + D Y0(z)]
T
[
pa = z [C Jr(z) + D Yt(z)]
Toe
(33)
with
2
z= ~
~/(1 + ~) )
(34)
x~ = a + b
x2 = b +
u]
l+ct
U1
"(3-- - -
l+ct
x, -
Ul
T2
r + l+~
1 + ~
"t"
2 + z [c J l ( z ) + d Yl(z)]
2,+2
(1 +or)
2'
[ c Jo(Z) + d
Yo(z)]
(35)
443
2s
~-0
X,-2
-t
50
O0
,/
-- 1 B
l-
-:-//,/----~
/ / " , , '
i It
'
"1
1~
~ -
20
30
40
'
tl t
50
50
70
80
'
'
90
l
~O0
'
'
ll0
120
---.-Z
F~G 5 Dependance of the traversing time Zo6, the switching points L and the corresponding ttme intervals %
on the traversing distance Z (see also Fig 4)
X3
/.
ul = g - -
(36)
1+
X3
~x
pl=,4
P2 = - - ( 1 + ~X) P4
P3--
- - 2 ( 1 +~x) [C Jo(z)+O
2'
Yo(z)]
cx
+ 1--~
Pl
P4 = 2 [(~ J l ( z ) + / )
YI(Z)]
(37)
with
2
z = i-~?1 ,,//~"
(38)
x3 =
[6 Jl(z)
x4
+ i[
YI(z)]
(39)
444
J W AUERNIG a n d H TROGER
p2
- ~.4
llx ~ 2 3 _
__
- ~ -
X2~ (7'
/o
l+~
/E,
(41)
'T'
I
Ship unloader
A
VK..,
4 18
4 40
321
D
E
461
3 04
ZO
278
2 06
1 94
2 29
1 13
1 76
Z
3597
34 31
1776
22 44
2998
23 08
E*
3602
34 63
2437
25 62
3013
22 39
~[+1,
>0
-1]
ff
- - P2
+p+
l+ct
=0
-l
<0
(42)
and
The b e h a v i o r s h o w n m F i g 6 is vahd as long as
the a d j o m t variables satisfy
p2(r-~) +p+(z)(~O
z<--z<zl
1+~
rs<z_<z
_0
+vH ,x
u2(r) =
(40)
[ - - VHrnax,
+ VHm.x]
-- VHmax
If
P5
0
0
(43)
E q u a h t y m (40) defines the m a x i m u m & s t a n c e
Y = Z* where the c o n t r o l strategy s h o w n in F i g 6
~s the t~me o p t i m a l strategy F o r a further increase
of X, q u a h t a t w e changes m the c o n t r o l variable ul
occur T h e n m that p o i n t where (40) is zero,
an a d d m o n a l d e c e l e r a t i o n o r acceleration interval
must be inserted
(44)
445
'l
UH.o=
X=~0"
TABLE 2
Case
vH..,
toe
1
2
3
4
02
01
0
-01
967
997
10 26
10 54
u:%
-~"-'- t
7"
and
Ps = E +
u!
[C Jo(z) + D YI(Z)]
ko
U2
x,,,V
4 (1 + ~t)2
+
u3
{[C Jo(z) + O Yo(z)]
[c Jo(z) + d Yo(z)]
+ [C Jl(z) + D Yl(z)]
[c J,(z) + d Y,(z)]}
..... ~ ......
~2
(45)
Case
roe
1
2
3
4
17 39
1748
17 57
17 82
446
J W AUERNIG a n d H TROGER
1"
'
X~s x o
. . . . . .
~'22--
........
TABLE 4
T R A N S F E R TIME
TOE C O R R E S P O N D I N G
TO T H E I D E A L I Z E D
1
2
3
4
TOE
17 329
17 331
17 498
17 568
447