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外文翻译--立体仓库码垛机的设计及控制系统.doc

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外文翻译--立体仓库码垛机的设计及控制系统.doc

1TheDesignofStereoscopicWarehouseStackerMotionandControlSystemAbstract.Withthecontinuousimprovementofindustrialautomation,automatedwarehousehasbeenwidelyusedinvariousindustriestoimprovetheproductionefficiencyandLogisticsspeedtoagreatextent.Asanessentialequipmentofautomatedwarehouse,stackerworkingefficiencyandstableperformancewillaffecttheusabilityofthewarehousedirectly.Thisessaystudiesthetunneltypestackinginmachinespeedcontrolsystemofanautomatedwarehouse,andanalysisitsmotioncurves.Thenwecombineitwiththestackerscompositematerialstructuretoguaranteebettermotioncontrolaccuracyandmotionreliability.Keywordsstereoscopicwarehouse,stacker,motioncontrol.1IntroductionModernautomatedwarehouseisamodernwarehousewhichuseshighdimensionalshelftostorematerials,andtocontrolmanagementbycomputersandmakingaccessrolebyautomaticstackingtrucks.Inrecentyears,stereoscopicwarehouseshashighlyimprovedrelatedenterprisesproductionandlogisticsspeed.Stackerisanimportantandindispensableequipmentinastereoscopicwarehouse,itsworkingefficiencyandstablefunctionaffectsstereoscopicwarehouseefficiencyandeconomicbenefitsfundamentally.Asawhole,stackersevaluationperformanceincludesliftingspeed,runningspeed,goodsforkingspeed,andstabilityandaddressrecognitionaccuracy.Amongalltheevaluationperformances,thestackersspeedistheessentialfactor,becauseitcancontrolcandeeplyaffectthestability,thevibrationsituation,andaddressrecognitionaccuracyofstackersoperation.So,makingIndepthresearchinstackersmotionsituationandspeedcontrolsystemisextremelyimportant,itcanhelpustomakesackerswithhighefficiency,morestableandlargermotionrange.2MotionControloftheStacker2.1AbstractAnstackersmotioncontroltechnologymainlyreflectsinitsmotionspeedcontrol,Nowadaysthereareseveralmethodsofstackersmotionspeedcontrol,asbeenshowedbelow1)Multirangespeedcontrolmode.Thiscontrolmodeisbuiltinacertainusagefoundation.2Whenitsworking,wemustconsiderthestackersactualcontrolneedanditalsocanusesubfileoperationmodeaccordingtorelevantexperience.Toalargeextent,thismodeneedscoordinationexercisecontrolanditalsorequiresdealingwithInvertersperformance.2Usinginvertertocompletetheclosedloopspeedstackerandstackercontroldisplacementsopenloopcontrol,usually,theStackersidealmotioncurvecanbeconcludedtoStandardaccelerationanddecelerationcurves.Afteronemotionsexperimentalcurvebeingconfirmed,itcanbestoredinastoredandwecanusePLCtocontroltheinvertertochangethemotioncurve,thusweachievethepurposeofaccuratespeedandstop.3Therearesomeproblemsintheturningpointinspeedandaccelerationswitchofstackermovementfunctions.Tosolvethisproblem,wecanusethefuzzycontroltechnologytomakereasonableimprovement.Amechanicalprocessingfactoryswarehouseismainlyusedformould、thestorageofsemifinishedproductsandfinishedproductsprocessing.Ithasthefunctionofautomaticmanagementstoreitems.Thedepositproductforstackerdepositrequirementistakenmustbefast,stableandreliable.ThecontrolsystemadoptsPLCasthemastercomponentsithasagreaterflexibilityandhighreliability.Warehousestackerusescommonstackermachine,theweightisof0.251.5tons,anditsoperationspeedisfromtwentyfivetoonehundredandeightymetersperminute.Itmainlycomposedofthebody,thelevelofoperatingagencies,verticalhoistingmechanism,telescopicforkloadingstationandinstitutionsandseveralothercomponents.Themainstructureofstackermachineisasshowninfigure1below3Fig.1.Stackermachinesmainstructure2.2TheSetoftheVelocityoftheStackerFromthemainstructureofstackermachine,wecanalsoknow,tuckersmajorsportsincludesthreebasicaction,thesearelevelofmovementmechanism、theverticalliftingmechanismsupanddownmovement、adjustableactioningoodsforktelescopicmachine.So,stackersfinaltaskefficiency,itsmovementandperformanceisalsodecidedbythesethreemovementsofthebasiccontroldegree.Whenstackingmachineismoving,toensurethemovementissmoothandreliable,wemustensurethatthestopregistrationofmovementsaccuracyanditsmovementsflatnessbysomecertaincontrolstrategy.Themethodofmotionspeedistoadjusttheoperatingcurve,andthenstoreditincontrolmemory.WhenPLCiscontrollingthemotion,throughchangingthecurvewhichisstoredintheinverterwecanachievethepurposeofaccuratespeedandstop.Levelspeedsettingmechanismissettledforfourgears,thesearecrawling,lowspeed,middleandhighspeed.WhenPLCiscontrollingthemotion,itreceivesthedestinationaddressfromacontroller,thenitComparethecurrentaddresstothedestinationaddress,andcalculatethedistancefromcurrentaddressdistancetodestinationaddress.Makeagoodsdistanceasaunitdistance.Whenthedistanceislargerthansixunitsdistance,itusethemotionmodeofcurvea,anduseproperaccelerationspeedwhenstartsandstops,toensuretheprecisionoftheprospectivestop.Italsousemaximumspeedtooperateinthemiddlelocation.Thusitcanimprovetheefficiency.Whenthedistanceislessthansixunitsdistanceyetgreaterthantwounitsdistance,itusethemotionmodeofcurveb.Andwhenthedistanceislessthantwounitsdistance,itusethemotionmodeofcurvec.4Fig.2.ThegraphoflevelmechanismsspeedSimilarly,theverticalliftingoperationofliftingmechanismsetsthreedifferentspeeds.Whentheoperationisnormal,itadoptshighspeedtoimproveefficiency.Whenitapproachesthetarget,itdowntolowspeedinordertoraisethestopprecision.VerticalliftingmechanismsspeedcurveisasshowninFig.3Fig.3.ThegraphofVerticalliftingmechanismTheroleoftheforktelescopicmachinegoodsisthroughthetelescopicmovementtoputcorrespondinggoodstogoodsbox.Thespeedofexpansionmovementcannotbetoofast,soitcanreducetheimpactoftheequipmentaction.Inthissystem,adjustablespeedofgoodsforkisbeensettledtotwogears,normalexpansionspeedis10m/minspeed,andwhenisclosetothegoodsthespeedis4m/min.2.3PositioningControlofStacker

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