Online-Optimierung in der Mehrsystemdynamik unter einer erweiterten Klasse von Nebenbedingungen : Optimale Bahnplanung eines deckengeführten Bediensystems in der Hochregallagertechnik

Abstract

In order to facilitate a new concept for a high rack warehouses with ceiling rooted storage systems, reference trajectories have to be provided to ensure a controlled swing of the crane system and a steady state at the final point. These trajectories are obtained solving optimal control problems. Due to safety reasons alternative trajectories have to be calculated and have to be controlled to bring the crane system to an oscillation-free position from any state of the main trajectory. The aim of this thesis is to extend the constraints of the existing optimal control problem by using the classic description of linear quadratic regulatorproblems. Hence, the optimal closed-loop control and the closed-loop behavior are embedded in the global optimal control problem description. One main result in this thesis is the proof of the necessary continuous differentiability of this advanced formulation of constraints. In conclusion the feasibility with some coupling effects between the control law and the optimal trajectory are presented with respect to safety requirements and time of computation just as robustness of the system and the controller.