堆垛机立柱动态挠度计算与控制仿真

Dynamic deflection calculation and control simulation analysis of stacker column

针对堆垛机立柱在惯性力作用下会产生挠曲变形及摆动的问题,通过对堆垛机结构进行简化,建立立柱的二维模型受力分析图,利用工程力学和材料力学的有关知识详细分析了立柱的动态挠度特性及摆动特性,建立了堆垛机立柱的动态挠度数学模型及摆动方程,得出速度和加速度是影响堆垛机立柱动态挠度和摆动的主要因素;在此基础上借助Matlab软件,分别采用多档调速曲线控制方法和S型速度曲线控制方法对堆垛机的速度、加速度及振幅进行仿真分析。研究结果表明:采用多档调速曲线控制方法时,运行过程中会因速度和加速度的突变而引起堆垛机运行不稳定,而采用S型速度曲线控制方法能够有效减小堆垛机在运行过程中对立柱产生的不稳定冲击,可实现速度的平稳过渡,从而验证了采用S型速度曲线控制方法在减小立柱变形和冲击等方面具有明显的优势。

To solve the problem that stacker column can produce flexure deformation and swing under the effect of inertia force, this paper simplified the structure of stacker and established the analysis diagram of two-dimensional model of column. Using the knowledge of engineering mechanics and material mechanics, it analyzed in detail characteristics of dynamic deflection and oscillation of columns, and established the dynamic deflection mathematical model and swing equation of stacker column. The results show that the speed and acceleration are main factors influencing the dynamic deflection and swinging of stacker column. On this basis and with the help of Matlab software, it simulated and analyzed the velocity, acceleration and amplitude of stacker by adopting multi-speed curve control method and S-curve speed control method respectively. Comparison between simulation results show that when multiple speed curve control method is adopted, stacker in running process will run unstably on account of velocity and acceleration mutation of stacker. However, adopting S-curve speed control method can effectively reduce unstable shock on the column produced by the stacker in running process, which can realize smooth transition of speed. It indicates that S-curve speed control method has obvious superiority in reducing column deformation, impact and so on. 16 figs, 17 refs.