Artificial Potential Field Algorithm And System Design Of Cooperative Work For Group Of Tower Cranes

Abstract:High density tower cranes have found increasingly wide utilization in the field of construction. The research of cooperative work for group of tower cranes is significant as it made tower cranes avoid collisions and improve the work efficiency of tower cranes.Taking the stationary tower crane as the object, the paper mainly completed tasks as follows:(A)The paper analyzed the collision of tower crane with obstacles and other tower cranes. Put forward artificial potential field algorithm of cooperative work for group of tower cranes for the collision of tower cranes. On the basis of traditional artificial potential field, combined with the kinematics and the geometrical constraints of cranes, the paper has put forward artificial potential field with constraints. It uses the relative speed of gravitational potential field to solve the problem of reaching the target cannot stop immediately. The tower crane3D kinematics model was built by using Solidworks and Matlab VR toolbox. It adopted the3D model and the Simulink artificial potential field model joint simulation method to ver2fy the correctness of tower cranes artificial potential field model. The result shows tower crane could initiative circumvent obstacles by the artificial potential field.(B)The paper built the collaboration tower cranes efficiency evaluation model. The evaluation indexes of the model was composed of time consumption, operability and energy consumption of tower crane path The model got these indexes by discretizing the equation of state and the artificial potential field. The efficiency optimization of tower crane path was achieved.(C)Aimed at problems of tower crane control system, the collaboration tower cranes modularity control system was proposed. The circuit schematic and PCB board of modularity controller was designed with MCU C8O51fO2O. The modular control program and the HMI man-machine interface was made. The paper achieved a tower crane control system using artificial potential field algorithm to realize tower crane collaboration.