When the quasiquartic Bezier curve with three shape parameters is used as the inner rail, the deviation can be further reduced by adjusting the three parameters. The calculation results show that the maximum deviation of the front and rear points on the outside of the crane during the turning process decreases significantly when the quartic Bezier curve is used as the turning track compared with the traditional circular turning track.
Taking the minimum deviation of the front and back points as the objective function of optimization, the optimal parameters of Bezier curve are searched by the multistart point heuristic global optimization algorithm, and the outer rail trajectory is fitted by Hermite interpolation. According to the single-wheel and multiwheel situation of the crane, the tracks of the front and rear points on the outer side are calculated through the geometric relationship of the traveling mechanism of the crane cart. In the scheme, the quasiquartic Bezier curve with three shape parameters is chosen as the turning curve of the inner rail.
In order to solve the problems of rail gnawing and jamming during turning of rail crane, a noncircular curve scheme of the crane based on Bezier curve is proposed.
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