| In recent years, the automated storage (AS/RS) has been widely applied in the modernlogistics industry. Stacker crane, an important equipment in AS/RS, whose running conditionsdirectly affects the efficiency and economic benefits of AS/RS. The indicators that usuallyreflect stacker crane’s performance are stability, vibration, noise, speed and positioningaccuracy, etc.. The speed control is the most important, which directly determines the overallperformance of stacker crane, and to adapt to the overload, high-speed direction developmentrequirement, the research on speed control seemed more important significance.This article takes ground supporting, double column stacker crane on the axle laneway asthe research object, establishes the stacker mechanical model and quantitative analysis therelationship between the acceleration and the column deformation. Based on the conclusion, italso has confirmed that the commonly used multi-stage speed control produces the adverseeffect on the stacker overall structure and mechanical task. In view of characteristics ofstacker level speed control, it adopts S-curve speed control based on "speed-displacement"double close loop control.Then the paper established the S-curve speed model, proposed the level positioningaccuracy control scheme, and made V-t and a-t curve simulation in multi-stage speed controland S-curve speed control, the result further proved the superiority of S-curve speed control.Finally completed the PLC program design of S-curve speed model using the dynamic curvegeneration method, and examined the S-curve rationality from smooth, the realizability ofminimum distance and the stable three aspects in the practical projects that authorsparticipated. Practice has proved, S-curve speed control plays crucial role in improving thestacker operation efficiency, improving stability and positioning accuracy, reducing noise. |
