Research On Control System Of The Stacking Crane For Automated Warehouse

As the advance of modern logistics and intelligent storage technology,automated warehousing technology has been gradually replacing the traditional storage mode,and becomes a trend in modern logistics industry.Application of automated warehousing technology can not only effectively improve the logistic efficiency,space utilization,and balance logistics transportation,but also help to reduce labor intensity,which does lot of benefit to both management and production decision of the warehouse.Automated warehouse has been widely used in tobacco,medicine,machine tools,food processing,household appliances,and many other industries.The stacking crane is the most important equipment of the automated warehouse.And its operation accuracy,stability and reliability play a crucial role in the whole automated warehouse.With the development of the high-tech,such as laser ranging,frequency conversion and high performance PLC,the performance requirements of stacking crane are also increasing,so that the original control technology has been unable to meet the market demand currently.Therefore,in order to further improve the stacker control performance to satisfy the requirements of accurate location,stable operation,small vibration,and sensitive starting and braking,we must focus on the in-depth study of stacker control system,and it has become a point in this research field.In view of the problems of the low positioning accuracy and poor stability of stacker,frequency conversion technology and fuzzy control,the control system of stacker is designed from speed control and position control in this paper,with the advanced control technology of PLC control,so as to realize the optimization of stacker control,and improve its comprehensive performance.In the speed control,research on the relationship between the operating speed,acceleration and deflection of stacker.And the results show that the mutation of velocity or acceleration will cause large deflection of the column,which is not conducive to the stable operation of stacker.In order to ensure the smooth transition of the acceleration of stacker and improve the stability of the system,the optimized S type speed control curve is put forward to control the running speed of stacker.And combined with the SVPWM technology,control the speed of stacker from the aspect of frequency control.In the position control,the positioning mode combined with relative addressing and encoder is adopted.In view of the shortcomings in the traditional PID control of complex to set parameters,and not adapt to the system of nonlinear and time-varying,the fuzzy PID control method is adopted,based on the stacker control system modeling,to control stacker by optimizing the stacker control parameters.And the correctness and feasibility of the control method are verified,with MATLAB software analyzing the system simulation model.Finally,based on the SIEMENS PLC 300,the control system of the stacker is designed from three aspects of hardware selection,software design and communication.According to the functional requirements of the stacker,complete hardware component selection.And its programming design is introduced by the realization of three modules of operation control,S type speed curve,and fuzzy PID control.Through the network configuration and communication,system's hardware and software are effectively connected,and the real-time interaction of system data is guaranteed.This paper aims to further improve the control performance of the stacker in automated warehouse,realize its efficient operation and precise positioning,and enhance work efficiency of automated warehouse on the basis of security and stability,with important theoretical significance and application value.