基于串级PID控制技术的堆垛机控制器的设计

Design of Storage/Retrieval Machine controller based on series PID control algorithm

本文从提高堆垛机作业系统的工作效率和可靠性的角度出发,利用串级控制原理和积分分离的PID算法,建立了堆垛机串级PID变频调速控制系统,避免了速度扰动的影响,实现了堆垛机的快速精确定位控制,提高了系统运行的稳定性和可靠性。

From the view of improving the work efficiency and reliability of Storage/Retrieval Machine, The series PID frequency conversion motor speed Regulating System of Storage/Retrieval Machine is developed, by using techniques of series PID. It availably avoids the negative effect of speed disturbance. The time of Ware allocation is shorter and its precision is higher .The Stability and reliability of Automated Storage and Retrieval system are also evidently improved.