CN114488796B - Cable machine operation line planning method for inhibiting wind power random disturbance - Google Patents
Cable machine operation line planning method for inhibiting wind power random disturbance Download PDFInfo
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Abstract
The invention provides a cable machine operation route planning method for inhibiting wind power random disturbance, which aims at the problems of multi-objective requirement and wind power uncertainty existing in the operation of a cable machine lifting tank and provides a multi-objective robust optimization method for the transportation path of the cable machine lifting tank. And the robust transformation idea is applied to abstract the planning problem of the running path of the cable machine into a multi-objective robust optimization model. In order to reduce the conservation of the robust model, the characteristic of the robust measure for representing the wind power uncertainty factor in the operation of the cable machine lifting tank is introduced, the cross entropy evolution algorithm is adopted to solve the pareto front edge with robustness and the cable machine operation path, and the multi-objective robust optimization and the single-objective robust optimization result are compared and analyzed. On the premise of multi-objective robust optimization, the construction period, the mechanical use efficiency and the space exposure risk evaluation value are respectively lower than the evaluation values under single-objective optimization, and objective basis is provided for the operation of the cable machine.
Description
Technical Field
The invention belongs to the field of multi-objective optimization of transport paths, and particularly relates to a cable machine operation route planning method for inhibiting wind power random disturbance.
Background
In the construction of dams, various large-sized construction machines are widely used. The cable machine plays an important role in the whole dam construction process due to the advantages of being suitable for construction sites with complex terrains and difficult to accommodate, convenient to use, large in hoisting range, small in influence of flood and the like. However, in the dam construction process, as a plurality of construction machines are operated at the same time, the working areas are overlapped, the suspension arms are crisscrossed vertically and horizontally, and the longer the space exposure time is in the construction machine operation process, the larger the probability of receiving wind power disturbance is, the risk is increased, and the safety of dam face construction machines and workers is greatly influenced. Meanwhile, most of hydropower engineering to be built in China is located in dry-hot valley regions, and the dry-hot valley climate causes air flow to cross over high mountain to cause wind burning and other disastrous strong winds, so that the cable crane hanging pot can be deviated, and even high-altitude falling objects can be caused. In view of the above, the robust optimization method for researching the cable machine running path disturbed by wind uncertainty has important significance under the action of wind power.
Chinese patent application (patent application number: 201810145806.8) discloses a cable machine operation monitoring system and an anti-collision regulation method. The patent performs seamless real-time monitoring on the cable machine through combined positioning and realizes visualization of monitoring on the construction process of the cable machine. Meanwhile, the patent adopts a collision detection method and an anti-collision regulation method, and an effective cable machine anti-collision regulation mechanism is formed to ensure that the cable machine runs safely and efficiently. However, the patent researches an anti-collision method of the cable crane hanging cans in the transportation process, the situation that delay or error exists in an online monitoring system is not considered, pre-control pre-optimization in advance is not considered, and the problem of anti-collision among the hanging cans is not solved from the source.
Disclosure of Invention
The invention aims to solve the technical problem of providing a cable machine operation route planning method for inhibiting wind random disturbance, which is mainly used for optimizing a cable machine operation route under multiple targets.
In order to solve the technical problems, the invention adopts the following technical scheme: a cable machine operation route planning method for inhibiting wind random disturbance comprises the following steps:
s1: establishing transportation path constraint conditions in the working process of the cable crane hanging pot, wherein the transportation path constraint conditions comprise a time constraint condition, a collision constraint condition and a height constraint condition;
s2: determining influencing factors of a running path of a cable crane hanging pot under the action of wind power, including construction period, mechanical use efficiency and space exposure risk;
s3: combining transportation path constraint conditions, and establishing a multi-objective optimization model of the cable machine operation path by taking construction period, mechanical use efficiency and space exposure risk as targets;
s4: constructing a multi-objective robust optimization model of the cable machine running path by adopting a multi-objective robust optimization method;
s5: and a cross entropy evolution algorithm is adopted, a multi-target compromise solution set is obtained through rapid non-dominant sorting and distribution of fitness values, and approximation of the solution set to the pareto front is achieved, and an optimal pareto solution is obtained.
In a preferred embodiment, in the step S1, the step of establishing the transportation path constraint condition in the working process of the cable hoist hanging pot is as follows:
s11: maximum construction period T of dam body cable machine not exceeding certain layer zmax Under the condition, the time constraint is expressed as:
T z ≤T z max
wherein T is z The total construction time of a dam body cable machine of a certain layer is set;
s12: assume that the canister position is (x i ,y i ,z i ) The coordinates of the obstacle are (x 0 ,y 0 ,z 0 ) The minimum distance D between the hanging pot and the obstacle min Expressed as:
according to the response time randomness k of the driver 1 Rope sway k 2 And wind pressure k 3 For buffer distance D h Considering the speed v of the cable machine i Normal braking acceleration a i Buffer distance D h Expressed as:
the collision constraint can be expressed as:
D h ≤D min
s13: let L be the vertical distance from the loading point to the unloading point, H be the lift cup height, H lb To robustly control the height, h d For the distance of the bottom end of the hanging pot from the dam face, the height constraint condition is expressed as:
L-(h d +h)≤H lb 。
in a preferred embodiment, the construction period in the step S2 is calculated as follows:
t s ＝t a +t b +t c
wherein t is s Heavy-load transportation for cable machineT is the construction period of (1) a 、t b 、t c Acceleration, uniform speed and deceleration time of heavy-load transportation of the cable machine are respectively carried out; l (L) a 、l b 、l n The horizontal distance is respectively used for accelerating, uniform speed and decelerating the heavy-load transportation of the cable machine; v n The maximum horizontal speed of the trolley operation; a, a e 、a b are respectively Conveying acceleration and deceleration for trolley weight; i x Horizontal distance from loading point to unloading point.
In a preferred embodiment, the mechanical use efficiency calculation in the step S2 includes the following steps:
s21: according to the working state r of the cabin surface construction machine in the space affected by the cable machine hanging pot at each moment k One round trip time T with cable machine a Calculating effective working time T of warehouse surface construction machine k ：
S22: the machine use efficiency η may be expressed as:
wherein: r is (r) k Is 0-1 variable, when the construction state is the effective running state, r k =1; when the construction state is an inactive construction state such as waiting and avoiding, r k ＝0。
In a preferred embodiment, the step of calculating the spatial exposure risk in the step S2 is as follows:
s23: probability P of canister occurrence in spatially exposed region 2 Equal to the time t when the hanging pot is present in the space exposure area a Travel time T with cable machine a Ratio of:
s24: according to the simultaneous up-and-down operation of the cable machine and the bin surface vibrating machineWidth c of time overlapping portion y And vibrating machine width c d Calculating the number O of vibrating machines occupied by the space exposure area s The method comprises the following steps:
s25: time t when vibrating machine is present in space exposure area z Can be expressed as:
wherein: r is the vibration radius of vibrating machine, t r For the action time of the vibrating machine at an insertion point, t m K is the number of the vibrating machines for the construction of the bin surface and c is the moving time between adjacent inserting points x The length of the overlapping portion.
S26: according to the total requirement of concrete on a working surface of a certain layer and the volume of a hanging tank, the total construction time of the layer is as follows:
wherein: t (T) z For the total construction time, w, of a dam cable machine of a certain layer x The length of the surface of the bin to be poured, w y The width of the bin surface to be poured is, sigma is a loose spreading coefficient, c is the thickness of a sub-bin layer, and Q is the volume of the hanging pot;
s27: probability P of vibrating machine appearing in space exposure area under wind speed condition 3 For time t when the vibrating machine is present in the spatially exposed region z And the total construction time T of the pouring layer z Ratio of:
s28: according to the wind speeds v of all stages near the dam site f Probability P of (2) 1 If the robust control wind speed is v lb By usingThe joint probability yields the expected value E of the exposure risk of the casting space under the action of wind power:
in a preferred embodiment, in the step S3, the step of building the multi-objective optimization model of the cable machine running path is as follows:
s31: defining an overlapping area according to the site construction condition, determining construction equipment parameters, F 1 F as a construction period target 2 F for machine use efficiency target 3 Is a space exposure risk target;
s32: by setting the construction period t s And analyzing the influence factors of the cable-stayed machine running path of the mechanical service efficiency eta and the space exposure E to obtain the multi-objective function of the cable-stayed machine running path optimization.
In a preferred embodiment, in the step S4, the process of constructing the multi-objective robust optimization model of the cable machine running path is as follows:
s41: suppose that the cable machine runs round trip time T a Wind speed v f And the running height of the cable machine, wherein the uncertain parameters are distributed in a limited symmetrical interval and the distribution information is unknown, and the uncertain parameters are represented by a box uncertain set;
s42: round trip time of cable machineIs the parameter of uncertain wind power on time constraint, T a For the nominal value of the parameter +.>As disturbance quantity, uncertaintyQualitative aggregation follows the following constraints:
s43: determining total construction time of dam cable machine of certain layerThe distance between the bottom end of the hanging tank and the dam surface>And wind speed->The parameters of the uncertain wind power on time, altitude and wind speed constraint are expressed as follows:
Ω j ＝{ξ||ξ j |≤Γ j ,ξ j ∈[-1,1],Γ j ∈[0,1]}
wherein: omega shape j Is xi j Is a polyhedron set, xi j As an uncertainty coefficient Γ j For a robust measure of the degree of robustness,and->The disturbance quantity of the wind power in time, height and wind speed is respectively uncertain;
s44: eliminating construction period target F 1 Machine use efficiency target F 2 And space exposure risk target F 3 Dimension between different objectsDifferential, normalized treatment of multi-objective robustness model:
wherein: f (f) 1 、f 2 And f 3 Assessment values of construction period, machine use efficiency and space exposure risk, T p Planned transit times for one round trip of the cable machine.
In a preferred embodiment, the step of implementing the pareto optimal solution in the step S5 is as follows:
s51: inputting information required by a cable machine transportation path, including the size Q of a hanging tank and the acceleration a e Deceleration a b And uniform velocity v n . Setting parameters of a warehouse surface operation vibration machine and the size of a warehouse surface to be poured, initializing a loading point, a unloading point, the maximum calculation times and a robust measure gamma j Generating an initial route by using the parameters;
s52: for the route population, robust single-objective optimization and multi-objective optimization function values under different Γ values are calculated respectively. Obtaining a first generation subgroup of robust optimization of the cable machine running path through rapid non-dominant sorting and fitness value distribution;
s53: the stability of the mean value and the variance vector parameters is improved by using smoothing operation, parameter updating is carried out, and the evolution direction of an individual is obtained by comparing differences among the evolved individuals;
s54: generating new offspring by updating the mean and the variance, and performing preferential selection on the offspring individuals by using non-dominant sorting;
s55: and if the new path population reaches the maximum calculation times, obtaining the pareto optimal solution, and terminating the whole path optimization.
The cable machine operation route planning method for inhibiting wind random disturbance has the following beneficial effects:
1. and the space exposure risk between the cable machine hanging pot and the dam face working compactor is considered, the space exposure risk between the cable machine hanging pot 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 included in the path optimization comprehensive evaluation function, and the path optimization result is more rigorous and accurate.
2. The problems that as the conservation degree of robustness increases, the evaluation value of the construction period and the mechanical use efficiency decreases, the evaluation value of the space exposure risk increases are considered, the conservation degree increases, the construction period needs to be increased, the mechanical use efficiency needs to be reduced to inhibit wind power uncertainty interference, and the space exposure risk is reduced are solved, so that the optimized cable machine operation path scheme keeps feasibility for all scenes in a wind power uncertainty set.
3. The method has the advantages that on the premise of multi-objective robust optimization, the construction period, the mechanical use efficiency and the space exposure risk evaluation value are respectively lower than the evaluation values 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, but not pursue the optimization of the single objective, and provide objective basis for the operation of the cable machine.
4. The invention has the significance that with the shift of the gravity center of water and electricity development in China to the western region, the weather conditions become worse and the situation of exceeding the robust control wind power level becomes more and more common. Therefore, according to the wind power monitoring information, establishing a path adjustment mechanism of the self-adaptive exceeding wind power 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 operational rules of a cable machine under heavy-load transportation;
FIG. 2 is an initial roadmap for cable machine transportation;
FIG. 3 shows the pareto front during different periods of time;
FIG. 4 shows the pareto front for machine use efficiency at various points;
fig. 5 is a front of pareto for space exposure at various levels;
FIG. 6 is a robust optimization of the transport path of the cable machine;
FIG. 7 is a solution flow chart for the pareto optimal solution;
FIG. 8 is a main parameter technical table;
fig. 9 is a table comparing robust single-objective and multi-objective optimization results.
Detailed Description
In this embodiment, the main technical parameters are shown in fig. 8. A cable machine operation route planning method for inhibiting wind random disturbance comprises the following steps:
step S1: firstly, transportation path constraint conditions including time constraint conditions, collision constraint conditions and height constraint conditions in the working process of a cable crane hanging pot are established.
The continuous transportation of the cable machine mainly comprises the following steps: and (3) n circulation processes such as loading, safety inspection, lifting of the hanging cans, heavy-load transportation, dropping of the hanging cans, alignment, unloading, lifting of the hanging cans, no-load return, dropping of the hanging cans to a loading platform and the like. The heavy-load transportation speed of the cable machine is subjected to acceleration, uniform speed, deceleration and other processes, and a specific operation rule is shown in fig. 1.
Preferably, in the step S1, the step of establishing the transportation path constraint condition in the working process of the cable hoist hanging pot is as follows: s11: the construction period is an important control factor of engineering construction, and the longest construction period T of a dam body cable machine at a certain layer is not exceeded zmax Under the condition, the time constraint is expressed as:
T z ≤T zmax
wherein T is z The total construction time of the dam cable machine of a certain layer is obtained.
The risk of collision is mainly dependent on the minimum distance between the pot and the obstacle, which mainly includes the dam body and the dam slope, assuming the pot position is (x i ,y i ,z i ) The coordinates of the obstacle are (x 0 ,y 0 ,z 0 ) The minimum distance D between the hanging pot and the obstacle min Expressed as:
s13: according to the response time randomness k of the driver 1 Rope sway k 2 And wind pressure k 3 Impact on buffer distance, consider speed v of the cable machine i Positive and negativeConstant braking acceleration a i Buffer distance D h Expressed as:
s14: the collision constraint can be expressed as:
D h ≤D min
s15: let L be the vertical distance from the loading point to the unloading point, H be the lift cup height, H lb To robustly control the height, h d For the distance of the bottom end of the hanging pot from the dam face, the height constraint condition is expressed as:
L-(h d +h)≤H lb
s2, determining influencing factors of a running path of a hanging tank of the cable crane under the action of wind power, wherein the influencing factors comprise a construction period, mechanical use efficiency and space exposure risk;
preferably, the construction period in the step S2 is calculated as follows:
t s ＝t a +t b +t c
wherein t is s Construction period t for heavy load transportation of cable machine a 、t b 、t c Acceleration, uniform speed and deceleration time of heavy-load transportation of the cable machine are respectively carried out; l (L) a 、l b 、l n The horizontal distance is respectively used for accelerating, uniform speed and decelerating the heavy-load transportation of the cable machine; v n The maximum horizontal speed of the trolley operation; a, a e 、a b are respectively Conveying acceleration and deceleration for trolley weight; i x Horizontal distance from loading point to unloading point.
Preferably, the mechanical use efficiency calculation in the step S2 includes the following steps:
s21: the use efficiency of the machine influences the construction cost, and because the cable machine is relatively high in cost of starting and stopping, in order to reduce the space exposure risk, if the cable machine is in transportation, the bottom end of the hanging tank is away from the dam surfaceThe distance is less than h d The construction is stopped immediately by the cabin surface construction machine in the space affected by the cable machine hanging pot. According to the working state r of the cabin surface construction machine in the space affected by the cable machine hanging pot at each moment k One round trip time T with cable machine a Calculating effective working time T of warehouse surface construction machine k ：
S22: the machine use efficiency η may be expressed as:
wherein: r is (r) k Is 0-1 variable, when the construction state is the effective running state, r k =1; when the construction state is an inactive construction state such as waiting and avoiding, r k ＝0。
Preferably, the step of calculating the space exposure risk in the step two is as follows:
since the vibrating machine has the longest vibrating compaction time, the working space of the machine is analyzed by taking a vibrating machine as an example. The cable machine is constructed in parallel with the storehouse face vibration process, and when the cable machine lifting tank runs to the position above the vibration storehouse face, the working space of the vibration machine on the storehouse face can be exposed in the influence space range of the lifting tank, and an overlapping space which is penetrated up and down is formed at the same time. At this time, the cable crane hanging pot and the vibrating machine compete to occupy the same limited space at the same time, so that space exposure risk is generated.
S23: width c of overlap portion y The deviation of the hanging pot in the wind direction is affected by wind power. Probability P of the occurrence of a bucket in a spatially exposed region under certain wind speed conditions 2 Equal to the time t when the hanging pot is present in the space exposure area a Travel time T with cable machine a Ratio of:
s24: according to the width c of the overlapped part when the cable machine and the bin surface vibrating machine operate up and down at the same time y And vibrating machine width c d Calculating the number O of vibrating machines occupied by the space exposure area s The method comprises the following steps:
s25: time t when vibrating machine is present in space exposure area z Can be expressed as:
wherein: r is the vibration radius of vibrating machine, t r For the action time of the vibrating machine at an insertion point, t m K is the number of the vibrating machines for the construction of the bin surface and c is the moving time between adjacent inserting points x The length of the overlapping portion.
S26: the construction time of a dam body of a certain layer is approximately equal to the running time of a cable machine, the running time of the cable machine is determined by the round trip lifting times, and according to the total concrete requirement and the hanging tank volume of a working surface of the certain layer, the total construction time of the layer is as follows:
wherein: t (T) z For the total construction time, w, of a dam cable machine of a certain layer x The length of the surface of the bin to be poured, w y The width of the to-be-poured bin surface is sigma, the loose spreading coefficient, c is the thickness of the sub-bin layer, and Q is the volume of the hanging pot.
S27: probability P of vibrating machine appearing in space exposure area under wind speed condition 3 For time t when the vibrating machine is present in the spatially exposed region z And the total construction time T of the pouring layer z Ratio of:
s28: according to the wind speeds v of all stages near the dam site f Probability P of (2) 1 If the robust control wind speed is v lb Obtaining an expected value E of the exposure risk of the pouring space under the action of wind power by using the joint probability:
and S3, combining transportation path constraint conditions, and building a multi-objective optimization model of the cable machine operation path by taking the construction period, the mechanical use efficiency and the space exposure risk as targets.
Preferably, in the step S3, the steps for establishing the multi-objective optimization model of the cable machine running path are as follows:
s31: defining an overlapping area according to the site construction condition, determining construction equipment parameters, F 1 F as a construction period target 2 F for machine use efficiency target 3 Is a spatial exposure risk target.
S32: by setting the construction period t s And analyzing the influence factors of the cable-stayed machine running path of the mechanical service efficiency eta and the space exposure E to obtain the multi-objective function of the cable-stayed machine running path optimization.
Step S4: and constructing a multi-objective robust optimization model of the cable machine running path by adopting a multi-objective robust optimization method.
Preferably, in the step S4, the process of constructing the multi-objective robust optimization model of the cable machine running path is as follows:
s41: suppose that the cable machine runs round trip time T a Wind speed v f And the running height of the cable machine, wherein the uncertain parameters are distributed in a limited symmetrical interval and the distribution information is unknown, and the uncertain parameters are represented by a box uncertain set;
s42: round trip time of cable machineIs the parameter of uncertain wind power on time constraint, T a For the nominal value of the parameter +.>For disturbance quantity (typically positive), the uncertainty set follows the following constraint:
s43: determining total construction time of dam cable machine of certain layerThe distance between the bottom end of the hanging tank and the dam surface>And wind speed->The parameters of the uncertain wind power on time, altitude and wind speed constraint are expressed as follows:
Ω j ＝{ξ||ξ j |≤Γ j ,ξ j ∈[-1,1],Γ j ∈[0,1]}
wherein: omega shape j Is xi j Is a polyhedron set, xi j As an uncertainty coefficient Γ j For a robust measure of the degree of robustness,and->The disturbance quantity of wind power in time, height and wind speed is not determined respectively.
To verify the effectiveness of the robust measure for model conservation level adjustment, six cable machine hoist tank run initiation lines were randomly generated, as shown in fig. 2.
Adjusting robust measure Γ 1 And exhibit a trend of change in the construction period evaluation value at different robust measures, as shown in fig. 3. With Γ 1 The probability of occurrence of the uncertain wind power in the constraint of the round trip time of the cable machine is continuously improved, and the optimization result of the construction period of all paths is also continuously reduced.
Taking path 1 optimization as an example, Γ is adjusted j Obtaining robust optimization results of mechanical use efficiency and spatial exposure risk under different degrees of robustness conservation as shown in FIG. 4, as a function of Γ 1 And Γ 3 The value is continuously increased, and the machine use efficiency evaluation value is continuously decreased.
Taking path 1 optimization as an example, Γ is adjusted j Obtaining robust optimization results of mechanical use efficiency and spatial exposure risk under different degrees of robustness, as shown in FIG. 5, when Γ 2 And Γ 4 When the value is 0, all the uncertain variables are taken as standard values, and the space exposure risk assessment value is minimum at the moment, and is along with Γ, for determining the optimization result under the environment 2 And Γ 4 The value is continuously increased, the conservation degree is continuously improved, and the space exposure risk assessment value is gradually increased.
At 0.4 xΓ j For example, the cable machine transport path robust optimization results are plotted as shown in fig. 6. The routes in the comparison diagrams can be seen as follows: the horizontal transportation time of the path with the optimized construction period is shorter, so that the round trip time of the cable machine is shorter, and the construction period is shortest; the average value of the vertical distance from the cable crane hanging pot to the dam face in the path of the mechanical use efficiency is the largest, and the downtime of the dam face construction machinery is the sameLess pairs, so that the use efficiency of the machine is optimal; the space exposure optimized path, the total round trip time for cable machine hoist transport is long, resulting in the space exposure desirably minimized. Compared with a single-target optimization result, the multi-target optimization route is more comprehensive in consideration.
According to fig. 9, the comparison table analysis of the robust single-objective and multi-objective optimization results is that under the precondition 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 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, and not pursue the optimization of the single objective, so that objective basis is provided for the transportation of the cable machine.
Considering the competition relationship among different targets, it is difficult to realize simultaneous optimization of multiple targets. The traditional processing mode mainly comprises the steps that a decision maker sets the preference degree and the priority of each target according to priori knowledge, but the priori knowledge is not known. Therefore, a cross entropy evolution algorithm is adopted, a multi-target compromise solution set is obtained through rapid non-dominant sorting and distribution of fitness values, and approximation of the solution set to the pareto front is achieved.
Eliminating construction period target F 1 Machine use efficiency target F 2 And space exposure risk target F 3 The dimension difference between different targets is normalized by the multi-target robustness model:
wherein: f (f) 1 、f 2 And f 3 Assessment values of construction period, machine use efficiency and space exposure risk, T p Planned transit times for one round trip of the cable machine.
Step S5: and a cross entropy evolution algorithm is adopted, a multi-target compromise solution set is obtained through rapid non-dominant sorting and distribution of fitness values, and approximation of the solution set to the pareto front is achieved, and an optimal pareto solution is obtained.
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 a cable machine transportation path, including the size Q of a hanging tank and the acceleration a e Deceleration a b And uniform velocity v n . Setting parameters of a warehouse surface operation vibration machine and the size of a warehouse surface to be poured, initializing a loading point, a unloading point, the maximum calculation times and a robust measure gamma j Generating an initial route by using the parameters;
s52: for the route population, robust single-objective optimization and multi-objective optimization function values under different Γ values are calculated respectively. Obtaining a first generation subgroup of robust optimization of the cable machine running path through rapid non-dominant sorting and fitness value distribution;
s53: the stability of the mean value and the variance vector parameters is improved by using smoothing operation, parameter updating is carried out, and the evolution direction of an individual is obtained by comparing differences among the evolved individuals;
s54: generating new offspring by updating the mean and the variance, and performing preferential selection on the offspring individuals by using non-dominant sorting;
s55: if the new path population reaches the maximum calculation times, the pareto optimal solution is obtained, the whole path optimization is terminated, otherwise, the step S53 is returned to and the optimization is continued.
Claims (4)
1. A cable machine operation route planning method for inhibiting wind random disturbance is characterized in that: the method comprises the following steps:
s1: establishing transportation path constraint conditions in the working process of the cable crane hanging pot, wherein the transportation path constraint conditions comprise a time constraint condition, a collision constraint condition and a height constraint condition;
s2: determining relevant influencing factors of a cable machine hanging pot running path, including construction period, mechanical use efficiency and space exposure risk;
the construction period is calculated as follows:
t s ＝t a +t b +t c
wherein t is s The construction period of heavy load transportation of the cable machine is shortened; t is t a 、t b 、t c Acceleration, uniform speed and deceleration time of heavy-load transportation of the cable machine are respectively carried out; l (L) a 、l b 、l n The horizontal distance is respectively used for accelerating, uniform speed and decelerating the heavy-load transportation of the cable machine; v n The maximum horizontal speed of the trolley operation; a, a e 、a b The acceleration and deceleration of the trolley heavy load transportation are respectively; i x The horizontal distance from the loading point to the unloading point;
the calculation steps of the mechanical use efficiency are as follows:
s21: according to the working state r of the cabin surface construction machine in the space affected by the cable machine hanging pot at each moment k One round trip time T with cable machine a Calculating effective working time T of warehouse surface construction machine k ：
S22: the machine use efficiency η may be expressed as:
wherein: r is (r) k Is 0-1 variable, when the construction state is the effective running state, r k =1; when the construction state is waiting and avoiding the non-effective construction state, r k ＝0；
The spatial exposure risk calculation steps are as follows:
s23: probability P of canister occurrence in spatially exposed region 2 Equal to the time t when the hanging pot is present in the space exposure area a Travel time T with cable machine a Ratio of:
s24: according to overlapping part of cable machine and bin surface vibrating machine during simultaneous up-down operationWidth of (L) cy And vibrating machine width c d Calculating the number O of vibrating machines occupied by the space exposure area s The method comprises the following steps:
s25: time t when vibrating machine is present in space exposure area z Can be expressed as:
wherein: r is the vibration radius of vibrating machine, t r For the action time of the vibrating machine at an insertion point, t m K is the number of the vibrating machines for the construction of the bin surface and c is the moving time between adjacent inserting points x The length of the overlapping portion;
s26: according to the total requirement of concrete on a working surface of a certain layer and the volume of a hanging tank, the total construction time of the layer is as follows:
wherein: t (T) z For the total construction time, w, of a dam cable machine of a certain layer x The length of the surface of the bin to be poured, w y The width of the bin surface to be poured is, sigma is a loose spreading coefficient, c is the thickness of a sub-bin layer, and Q is the volume of the hanging pot;
s27: probability P of vibrating machine appearing in space exposure area under wind speed condition 3 For time t when the vibrating machine is present in the spatially exposed region z Total time T of casting layer construction z Ratio of:
s28: according to the wind speeds v of all stages near the dam site f Probability P of (2) 1 If the robust control wind speed is v lb Obtaining wind power by using joint probabilityExpected value of casting space exposure risk E:
s3: combining transportation path constraint conditions, and establishing a multi-objective optimization model of the cable machine operation path by taking construction period, mechanical use efficiency and space exposure risk as targets;
the multi-objective optimization model establishment method for the cable machine running path comprises the following steps:
s31: defining an overlapping area according to the site construction condition, determining construction equipment parameters, F 1 F as a construction period target 2 F for machine use efficiency target 3 Is a space exposure risk target;
s32: by setting the construction period t s Analyzing the influence factors of the cable-stayed machine running path of the mechanical service efficiency eta and the space exposure E to obtain a multi-objective function of the cable-stayed machine running path optimization;
s4: constructing a multi-objective robust optimization model of the cable machine running path by adopting a multi-objective robust optimization method;
s5: and a cross entropy evolution algorithm is adopted, a multi-target compromise solution set is obtained through rapid non-dominant sorting and distribution of fitness values, and approximation of the solution set to the pareto front is achieved, and an optimal pareto solution is obtained.
2. A method of planning a cable plant route to suppress wind random disturbances according to claim 1 where: in the step S1, the transportation path constraint condition establishment step in the working process of the cable crane hanging pot is as follows:
s11: in no more than a certain layer of damLongest construction period T of body cable machine zmax Under the condition, the time constraint is expressed as:
T z ≤T zmax
wherein T is z The total construction time of a dam body cable machine of a certain layer is set;
s12: assume that the canister position is (x i ,y i ,z i ) The coordinates of the obstacle are (x 0 ,y 0 ,z 0 ) The minimum distance D between the hanging pot and the obstacle min Expressed as:
according to the response time randomness k of the driver 1 Rope sway k 2 And wind pressure k 3 For buffer distance D h Considering the speed v of the cable machine i Normal braking acceleration a i Buffer distance D h Expressed as:
the collision constraint can be expressed as:
D h ≤D min
s13: let L be the vertical distance from the loading point to the unloading point, H be the lift cup height, H lb To robustly control the height, h d For the distance of the bottom end of the hanging pot from the dam face, the height constraint condition is expressed as:
L-(h d +h)≤H lb 。
3. a method of planning a cable plant route to suppress wind random disturbances according to claim 1 where: in the step S4, the process of constructing the multi-objective robust optimization model of the cable machine running path is as follows:
s41: suppose that the cable machine runs round trip time T a Wind speed v f And the running height of the cable machine, and uncertain parameters are distributed in a bounded waySymmetric interval and unknown distribution information, and the uncertain parameters are represented by a box uncertain set;
s42: round trip time of cable machineIs the parameter of uncertain wind power on time constraint, T a For the nominal value of the parameter +.>For disturbance quantity, the uncertainty set follows the following constraint:
s43: determining total construction time of dam cable machine of certain layerThe distance between the bottom end of the hanging tank and the dam surface>And wind speed->The parameters of the uncertain wind power on time, altitude and wind speed constraint are expressed as follows:
Ω j ＝{ξ||ξ j |≤Γ j ,ξ j ∈[-1,1],Γ j ∈[0,1]}
wherein: omega shape j Is xi j Is a polyhedron set, xi j As an uncertainty coefficient Γ j For a robust measure of the degree of robustness,and->The disturbance quantity of the wind power in time, height and wind speed is respectively uncertain;
s44: eliminating construction period target F 1 Machine use efficiency target F 2 And space exposure risk target F 3 The dimension difference between different targets is normalized by the multi-target robustness model:
wherein: f (f) 1 、f 2 And f 3 Assessment values of construction period, machine use efficiency and space exposure risk, T p Planned transit times for one round trip of the cable machine.
4. A method of planning a cable plant route to suppress wind random disturbances according to claim 1 where: the step of implementing the pareto optimal solution in the step S5 is as follows:
s51: inputting information required by a cable machine transportation path, including the size Q of a hanging tank and the acceleration a e Deceleration a b And uniform velocity v n Setting parameters of a warehouse surface operation vibration machine and the size of a warehouse surface to be poured, initializing a loading point, a unloading point, the maximum calculation times and a robust measure gamma j Generating an initial route by using the parameters;
s52: for the route overall, calculating robust single-objective optimization and multi-objective optimization function values under different gamma values respectively, and obtaining a first generation subgroup of robust optimization of the running path of the cable machine through rapid non-dominant sequencing and fitness value distribution;
s53: the stability of the mean value and the variance vector parameters is improved by using smoothing operation, parameter updating is carried out, and the evolution direction of an individual is obtained by comparing differences among the evolved individuals;
s54: generating new offspring by updating the mean and the variance, and performing preferential selection on the offspring individuals by using non-dominant sorting;
s55: and if the new path population reaches the maximum calculation times, obtaining the 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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