Research On Control And Scheduling Of Automatic Storage & Retrieval System Carrier

Along with the development of modern technology, Automated Storage & Retrieval System (AS/RS) works as the connection junction and plays as an important role in the modern logistics systems, and has been raisipng more and more attention. AS/RS brings immerse economic benefit for industry and enterprise. According to acquired theory and research results, some works have been done about AS/RS carrier in this paper.First, the plan of the AS/RS carrier control system is raised in this paper. In this plan, the structure bases on the industrial field bus, which makes the communication convenient between the industrial computer and the programmable logic controller (PLC). The industrial computer is used as a core to schedule, manage and supervise; PLC is used as a controller.Then, because the AS/RS scheduling problem has the discrete and even-driven characteristic, the theory of advanced Petri Net has been used, and the modeling method of Object-Oriented Timed & Colored Petri Net (OOTCPN) is used to create the scheduling model of the AS/RS scheduling system. The performance of the model is analyzed, a reasonable scheduling arithmetic is designed which bases on the model. The design lays the foundation for the scheduling soft ware in the industrial computer and the path optimization.By the analysis of the carrier work path, a mathematical model for the flow of the task is created, the path Optimization is based on the model. The model is the traveling salesman problem (TSP). Genetic Algorithms has the characteristic that it can compute in several points, so it can solve the TSP conveniently avoiding Local optimal solution. The Genetic Algorithms program is simulated by the MATLAB.At last, to improve the dependability and the maintainability of the AS/RS the carrier fault diagnosing and settling method is researched. By the analysis of the possible fault, the method dealing with the different faults in different grades is used to realize that carrier recovers all by itself when faults happen.