桥式抓斗卸船机抓取量自适应控制方法研究

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中图分类号：TP242 文献标识码：A 文章编号：1672-3791（2026）04-0096-03

Research on Adaptive Control Method for Grasping Quantity of Bridge-Type Grab Ship Unloader

GUO Yufeng1HUANG Yungang ZHAI Zhiyuan²NI Shijie 1.Guangdong Datang International Chaozhou Power Generation Co.，Ltd.，Chaozhou， Guangdong Province， 521000 China; 2.Hangzhou Huaxin Mechanical & Electrical Engineering Co.，Ltd.，Hangzhou， Zhejiang Province， China

Abstract： The traditional bridge type grab ship unloader's adaptive control method adjusts the ProportionalIntegral-Derivative （PID）parameters inreal timeaccording to parameters such as material densityand particle size to achieve grabquantitycontrol.However，due to the complexfuzzyrule inference process，thecontrol time is relativelylong.Therefore，this article proposes anadaptive control method forthe gripping amount of the bridge type grabbucketunloader.An enhanced relay feedback method is adopted toanalyze the dynamic characteristics of the quantitative loop of the bridge-type grab ship unloader; The weak light enhanced features are processed in two branches for processing and fusion，and a deep separated feature reconstruction layer is designed. The pose parameter set is output from the network output layer to predict the grab pose; The coordinate system transformation relationship is established through hand eyecalibration，thecalibration matrix isobtainedbysolvingtheequations，and the grabcontrol amount is derived to achieve adaptive control.Experimental results show that the uniformity of grab quantity of the proposed method in different material characteristic scenarios exceeds 85% ，with small fuctuations and a control time of 4.0s. Compared with the comparative method， it has significant advantages.

Keywords： Grab quantity; Adaptive control; Relay feedback; Hand-eye calibration; Bridge-type grab ship unloader

港口散货装卸作业量持续攀升，桥式抓斗卸船机作为核心装卸设备，其作业效率与精准度直接制约港口的吞吐能力。（剩余2821字）