Research On Control Safety Technology Of Automated Storage And Retrieval System Stacker

As the host equipment of the Automated Storage and Retrieval System,the stacker crane has the characteristics of high degree of automation,complex types of electromechanical equipment,and high frequency of use.once a safety problem occurs resulting in the normal operation of the stacker,it will cause property damage at best,and endanger personal safety at worst.In order to reduce the safety risk of stacker crane operation and improve its work efficiency,this paper takes the stacker crane control system as the research object,starts from the two aspects of fault diagnosis and fault tolerance control,and studies the fault and abnormal behavior detection and fault tolerance control of the stacker crane control system,the main research content is as follows:Firstly,according to the signal data of the stacker’s fault-free control operation process,based on the deterministic finite state automatic mechanism,a nominal model of stacker crane control process with signal-state vector and timeout function is constructed,and in the process of model construction,the unstable system state and redundant transition path generated in the model due to the problem of inaccurate log data are judged whether the transition path between the two states is redundant or repeated by comparing the signal state transition event unit set and the transition time of the two transition paths.In the case of multiple transformations from a node,detect whether an incorrect transformation has been performed by appending a regular expression to the transformation node.The query database-based method is used for fault and behavior anomaly detection,and the residual-based fault isolation method is used for fault location isolation.With Visual Studio 2019 as the development platform,using C# programming language,SQL Server database as the background log database,using hash table-based model indexing and fault search methods to design and implement the fault diagnosis platform of stacker crane control system.Write the stacker crane control program,create a virtual simulation test bench in the Factory IO software,verify the said fault detection method by inserting the error signal status value into the PLC memory and using the Factory IO software to activate or deactivate the equipment component to generate a fault.Secondly,aiming at the problem of punching limit during horizontal operation,that is,lifting process,and the problem of loosening rope or overload during lifting,the fault protection limit position monitoring function block with retraction logic is designed by software redundancy method to improve fault tolerance performance of the system.The scientific research work of this paper is to use the finite state automata method to realize the fault diagnosis of stacker crane control system,and verify the feasibility and practicability of the method used in this paper by inserting faults in the simulation platform,and design a fault-tolerant control scheme based on software redundancy for the faults such as punching during the stacker crane operation,which can effectively avoid the failure of punching shutdown.