摘要
为实现小型电动叉车搬运大型货物的需要,设计了并联电动叉车同步作业控制器,并进行了同步算法的研究。对双叉车协同搬运状况的分析,找到搬运存在的问题,确立了系统硬件方案,提出了主从控制的同步策略,建立了主从叉车编队误差的数学模型,设计了PID同步运动控制算法,最后在MSRDS平台进行了软件仿真,验证了控制方案及算法的有效性。
In order to realize the needs of small electric forklifts for handling large goods,a synchronous operation controller for parallel electric forklifts was designed,and the synchronization algorithm was studied.The paper analyzes the cooperative handling of double forklifts and finds the problems in handling,the system hardware scheme is established,the synchronization strategy of master-slave control is proposed,the mathematical model of masterslave forklift formation error is established,the PID synchronous motion control algorithm is designed,and the software simulation is performed on the MSRDS platform.The effectiveness of the control scheme and algorithm is verified.
作者
蒲宇
邵云杰
顾敏明
PU Yu;SHAO Yun-jie;GU Min-ming(Zhejiang Sci-Tech University,Hangzhou 310018,China;Zhejiang Jinhua Wenrui Electromechanical Co.,Ltd.,Jinhua Zhejiang 321037,China)
出处
《装备制造技术》
2020年第7期26-29,共4页
Equipment Manufacturing Technology
基金
浙江省公益技术研究计划(LGG19F030002)。
关键词
电动叉车
同步作业
协同搬运
控制算法
electric forklift
synchronous operation
cooperative handling
control algorithm
