基于双位置环的立体仓库堆垛机高精度定位

High-precision Positioning for Warehouse Stackers Based on Dual-loop

立体仓库堆垛机定位控制中由于测量产生的误差,如编码器存在累积误差的缺陷,激光测距仪因震荡等不确定因素产生误差,严重影响堆垛机的定位精度;针对堆垛机此类定位控制精度问题,采用双位置环控制方法;第一次定位与第二次定位结合使用,在低速段用第二次定位反馈,提高定位精度;最后对堆垛机定位误差进行了分析,结果满足控制系统要求;实验证明,该方法很好的实现了立库堆垛机运行的精确定位问题,定位精度在3mm范围内,符合定位要求。

Measurement errors,such as the encoder defective cumulative error or Laser rangefinder errors caused by concussion and uncertain factors,can severely impact the stacker positioning precision in the warehouse stacker positioning control.A control method of double position loop is adopted to solve the precision problem of positioning control for the stacker.The first position and the second position are grouped together to improve the positioning accuracy.The signal of the second position gives a feedback to controller at low-speed stage.Finally,the stacker positioning error is analyzed and the results meet the requirements of the control system.Experiments show that the method achieves a good result of the warehouse stacker positioning accuracy.The positioning accuracy is in the range of 3mm and meets the demand of the positioning.