Research On Moving Control System Of Shuttle Rack

Shuttle Rack is a new storage facility in china’s logistic industry. Compared totraditional immovable rack, it has advantages of less floor space, better efficiency,larger storage capacity and lower cost. With the FIFO and LIFO and a variety ofprofessional feature, it makes inventory management and logistics easier. Our countryis under rapid development of economy but in bad lack of land resources and energy,in this situation, researching on and widespread use of shuttle rack become more andmore important. The software includes modules for continuous access to goods, palletcount, front and back the re-tally, fixed number of trays to access.In this thesis the shuttle vehicle control system design, including systemarchitecture, requirements and technical parameters is first introduced.After analyzingthe carrying objects and operating characteristics, we propose the S-curve accelerationand deceleration algorithm to run smoothly, accurate positioning. We also designbased PLC of shuttle electrical control system. The whole system is built up mainvoltage source circuit and controlling circuit, which is comprised of PLC unit and thephotoelectric sensors, encoders, relays, circuit breakers, including the driver circuit,the wireless transceiver circuit, fault alarm circuit. The software includes modules forpallet count, front and back the re-tally, fixed number of trays to access.Finally, the establishment of a shuttle speed control system mathematical modelwas conducted on the SIMULINK/MATLAB platform, with the Fuzzy-PID controltechnology, realizes PID control parameter Kp、Ki、Kdself-regulating based on a givenspeed value error E and the erroneous rate of change EC. In conclusion, the fuzzy PIDcontrolling is excelled in ultra-fast response and small residual error. In addition, it ismore stable and easy to deploy in the multivariable system.