摘要
自动化立体仓库中堆垛机的运行速率和定位精度是影响其出入库效率的关键因素。针对当前立体仓库堆垛机定位精度低、稳定性差的问题,设计了堆垛机的闭环控制系统结构。通过堆垛机立柱挠度与加速度变化关系的分析,验证了堆垛机速度控制的重要性,同时利用速度自适应参数模型优化堆垛机调速曲线。为了进一步改善堆垛机控制性能,设计了模糊PID控制器。采用模糊PID控制方法优化堆垛机控制参数,以西门子S7-300 PLC为研究平台,对堆垛机的速度控制进行动态研究及系统仿真建模。仿真结果表明,模糊PID控制将传统PID控制和模糊控制相结合,在一定程度上优化了堆垛机控制系统的性能,实现了堆垛机的精确定位。
The operating rate and orientation precision of stacking crane are key fac＇tors, which influence the efficiency of the storage in space warehouse. Owing the problem of low orientation precision and poor stability of the current stacking crane, we design a closed-loop control system. Through analyzing the relationship between deflection and acceleration of the stacking crane, the importance of speed control can be verified. Meanwhile, we use a speed adaptive parameter model to optimize its speed curve. To improve the pe（ormance of stacking crane, we design a fuzzy PID controller. Taking the SIEMENS PLC S7-300 as the research platform to study its speed performance. Also, system modeling and simulation are conducted, and the results show that this fuzzy PID control method, combining traditional PID with fuzzy control, presents a better performance for the control system of stacking cranes. And it proves to be an effective way to control stacking cranes.
出处
《机械设计与制造》
北大核心
2017年第5期17-20,共4页
Machinery Design & Manufacture
基金
教育部"蓝火计划"产学研联合创新项目(2014018)
