The Optimization Technique Of Move Track Of Grab On Ship Unloader

The ship grab unloader is dominant equipment in the port load and unload work. To meet the increasing amount of cargo, and alleviate labor intensity of the worker at the same time, we must use new technology or reconstruct old equipment.Now, many science academy and port enterprise have done many research about this and received some advancements which have put in practice. T he most typical product among these advancements is the GPO system of ABB. This system include auto-unload,the overloading control of auto-unload,the calculating of the grab's optimized running track and the control of grab's swing.This article analysis the running rule of the dolly and grab on the ship unloader, provide an optimized math model according to the work process of skillful motorman after consulting many domestic and overseas literatures. This model includes startup phrase, autiswing phrase,equal-speed phrase,casting materiel phrase. In the thorough process, the horizontal running of dolly and the uprising of grab are processing at the same time. In many study before, we always give a fixed uprising speed for grab, and then control the system by controlling accelerate or decelerate speed of dolly. This article will use fuzzy control technology to control every phase. We don't give a fixed rising speed for grab at the first phrase. We give an appropriate accelerate speed for grab after control. The optimized point is to match the accelerate speed of dolly and accelerate speed of grab. At the last phase, we calculate the point to cast materiel. We provide the way to carry out the math model through PLC. In this process, we not only eliminate swing of grab, but more important match the accelerate speed between grab and dolly. Because of this, we reduce the running time of system, advance the work efficiency, and optimize the running process.