售货机升降系统S型速度控制策略

Research on S-Type Speed Control Strategy of Vending Machine Lifting System

在传统三闭环控制方式下,售货机升降接货系统易因启停过程中加速度突变产生冲击,导致系统运行不平稳。针对这一问题,文中对传统升降系统加减速控制策略进行改进,加入前馈和微分负反馈,提出一种S型速度曲线控制算法。根据路径规划判别条件将S型速度曲线分为七段式、六段式和四段式3种,并给出各路径约束条件下的参数求解方法和具体执行流程。将该算法运用到升降控制系统中进行仿真和实际工况测试,实验结果表明,与传统三闭环控制相比,文中所提控制策略可以提高售货机升降系统运行的平稳性,减小冲击,使速度曲线更加柔和,并能够保持较好的跟踪性能。

Under the traditional three-closed loop control mode,the vending machine lifting and receiving system is prone to impact due to the sudden acceleration during the start and stop process,which leads to the unstable operation of the system.To solve this problem,the traditional acceleration and deceleration control strategy of lifting system is improved,and a S-type velocity curve control algorithm is proposed by adding feed forward and differential negative feedback.According to the discriminant conditions of path planning,S-type velocity curve is divided into three types:seven-stage,six-stage and four-stage.The parameter solving method and the specific execution process under each path constraint condition are given.The algorithm is applied to the lifting control system for simulation and actual working condition test.The experimental results show that compared with the traditional three-closed-loop control,the provided control strategy can improve the stability of the lifting system,reduce the impact,make the speed curve change more gentle,and maintain good tracking performance.