基于自适应模糊控制的智能码垛系统设计

Design of Intelligent Stacking System Based on Adaptive Fuzzy Control

针对传统工业码垛机系统响应速度慢、定位精度低、工作可靠性差等问题,结合自动化生产线码垛系统的工艺流程和控制要求,提出基于自适应模糊控制、PLC+HMI控制架构的智能码垛系统解决方案。构建以三菱FX3U型PLC、昆仑通态人机界面HMI、变频调速系统和伺服驱动系统等组成的智能码垛系统;分析并设计了系统软件架构和程序流程图,采用自适应模糊PID算法设计了码垛系统的控制器。实验研究表明,设计的智能码垛系统能有效地消除对冲,具有较强的鲁棒性,并在码垛搬运要求高速、重载的应用场景下,极大改善了系统的动态性能。

In response to the problems of slow response speed,low positioning accuracy,and poor working reliability of traditional industrial stacking machine systems,a solution for intelligent stacking systems based on adaptive fuzzy control and PLC+HMI control architecture is proposed combining with the process flow and control requirements of automated production line stacking systems.The intelligent stacking system is composed of FX3U PLC,MCGS human-machine interface HMI,variable frequency speed control system,and servo drive system.The paper also analyzes and designs the system software architecture and program flowchart,and use adaptive fuzzy PID algorithm to design the controller of the stacking system.Experimental research has shown that the designed intelligent stacking system can effectively eliminate overshoot,has strong robustness,and greatly improves the dynamic performance of the system in application scenarios where stack handling requires high speed and heavy loads.