摘要
为了提高三维穿梭车的控制精度,减小控制误差,获得更好的伺服性能,通过对多轴同步控制策略进行研究,利用Matlab搭建伺服电机基于PI调节的双闭环矢量控制模型和基于虚拟主轴结构的同步控制模型,并利用CoDeSys平台搭建基于虚拟主轴控制模型的实验环境,对比仿真与实验的结果,研究验证基于虚拟主轴同步控制模型在三维穿梭车控制系统中的适用性。研究表明,采用基于PI调节的虚拟主轴同步控制模型后,穿梭车各轴到达稳态的时间在0.05s,超调量不超过2%,同步误差调节时间不超过0.5s,具有实时性好同步性高抗干扰性强的控制效果,可以应用于三维穿梭车非线性多耦合的控制系统。
In order to improve the control accuracy of the 3D shuttle vehicle,reduce the control error,and obtain better servo performance,and through the study of the multi-axis synchronous control strategy,this paper used Matlab to build the double closed-loop vector control model of the servo motor based on PI regulation and the synchronous control model based on the virtual spindle structure,and,on the CoDeSys platform,built an experimentation environment based on the virtual spindle control model.Then by comparing the results from the simulation and the experiment,it tried to verify the applicability of the virtual spindle synchronous control model in the 3D shuttle control system.The finding showed that after using the virtual spindle synchronous control model based on PI adjustment,the time for the shuttle to steady along each axis is 0.05s,with overshoot under 2%and synchronization error adjustment time under 0.5s,indicating good real-time reactivity,higher synchronization,and strong anti-interference performance,thus applicable in the nonlinear multi-coupling control system of the 3D shuttle vehicle.
作者
倪昊
NI Hao(School of Mechanical Engineering,Nanjing University of Science&Technology,Nanjing 210094,China)
出处
《物流技术》
2022年第2期119-123,共5页
Logistics Technology
关键词
三维穿梭车
多轴同步
虚拟主轴
3D shuttle vehicle
multi-axis synchronization
virtual spindle
