立体仓库堆垛机的模糊控制定位技术研究

Research of Fuzzy Control Technology on Warehouse Automation Stacker

分析了自动化立体仓库堆垛机控制系统位置控制策略和常规定位过程,给出了堆垛机定位控制的数学模型,通过采用具有调整因子的规则自生成的方法进行模糊推理并实现位置模糊控制。仿真结果证明,系统对输入信号的响应快,跟踪误差小,过度时间短,且无超调或超调量小,震荡次数少,稳态精度高,系统输出与给定值稳态偏差小,定位精度高。

Position control strategy and conventional positioning process of automated warehouse stacker control system are analyzed in this paper.The mathematical model of the stacker positioning control is given.Using rule generation method with adjustment factors,the paper performs fuzzy reasoning and achieves a position fuzzy control.The results of simulation prove that the response of the system to the input signal is fast.The tracking error is small.The overtime is short.The overshoot is small or without overshoot.The oscillation frequency is small.The steady state accuracy is high.The deviation between the system output and the given value in steady state is small.The position precision is high.