摘要
文章分析了自动化立体仓库堆垛机现有的多段调速、速度闭环和位移闭环等控制方式,发现多段调速控制方式具有立柱振幅太大、速度易突变和运行时间长等问题;而单一速度闭环控制系统需要低速运行一段距离,以降低作业效率;位移内嵌速度闭环控制系统虽然定位精确、动态响应快,但速度突变容导致货物倒塌事故。针对以上问题,提出了采用S型速度曲线控制的方式,以提高堆垛机运行的快速性、安全性和定位精度。然后在Matlab/Simulink模块中建立立柱摆动的二阶仿真模型,由仿真比较可得,S型速度曲线控制方式下速度减少了7.6%,振幅降低了8.3%,所以该方式具有更好的快速性、平稳性和定位精度效果,尤其在中长距离的时间优化方面效果明显。
In this paper,the existing control methods of multi-stage speed regulation,speed closed-loop,and displacement closed-loop for the automated three-dimensional warehouse stackers are analyzed.It is found that the multi-stage speed regulation control method has problems such as too large column amplitude,easy speed mutation,and long operating time;and the single speed closed-loop control system needs to run a distance at a low speed to reduce the operation efficiency.Although the displacement embedded speed closed-loop control system has accurate positioning and fast dynamic response,the sudden change of speed can easily lead to the accident of cargo collapse.In view of the above problems,the S-shaped speed curve control method is proposed to improve the speed,safety and positioning accuracy of the stacker.Then,the second order simulation model of column swing is established in the Matlab/Simulink module.Compared with the simulation,the speed is reduced by 7.6%and the amplitude is reduced by 8.3%,so this method has better rapidity,stationarity and positioning accuracy,especially in medium and long distance.
作者
段兴媛
马殷元
DUAN Xing-yuan;MA Yin-yuan(School of Mechanical and Electrical Engineering,Lanzhou Jiaotong University,Lanzhou730000,Gansu,China)
出处
《机械研究与应用》
2024年第1期65-68,74,共5页
Mechanical Research & Application
