在起重机作业过程中,起重电机时常运行在第二或第四象限,处于制动发电状态。为了回收并利用这部分再生电能,提出一种多起重机协调调度节能的新方法。针对系统复杂难以建模的问题,首先将离散系统的活动周期图建模方法推广至混杂系统,建立多起重机共直流母线节能系统活动周期图模型。进而在此模型基础上,提出了一种基于均匀分布理论的多起重机协调调度算法。仿真结果表明,该方法能有效地协调调度起重机工作状态,使处在耗能状态起重机最大限度吸收制动状态起重机再生的电能,提高系统性能。 During the crane operation, the hoisting motor often runs in the second or fourth quadrant, and is in the state of braking power generation. In order to recover and utilize this part of regenerative power, a new method of multi-crane coordination scheduling energy saving is proposed. Aiming at the problem that the system is complex and hard to be modeled, the modeling method of the activity cycle diagram of discrete system is extended to the hybrid system and the activity cycle diagram model of the multi-crane common DC bus energy saving system is established. Based on this model, a multi-crane coordination scheduling algorithm based on uniform distribution theory is proposed. The simulation results show that the proposed method can effectively coordinate the dispatching operation of cranes so that the cranes in the energy-consuming state can absorb the regenerated electric energy of the cranes at maximum and improve the system performance.