立体仓库中智能穿梭车的控制系统设计

发布时间：2018-01-13 17:23

本文关键词：立体仓库中智能穿梭车的控制系统设计　出处：《北京邮电大学》2015年硕士论文　论文类型：学位论文

【摘要】：随着社会科技的发展,物流行业的发展越来越迅速,智能穿梭车在立体仓库中扮演着重要角色,它大大提高了立体仓库的仓储库存并节约成本。智能穿梭车的控制系统主要依靠可编程逻辑控制器,通过可编程联机控制器连接多种传感器,完成对所需信息的采集,控制穿梭车完成巷道的作业,具有灵活、安全、便捷、快速等特点。设计穿梭车在仓库中的使用模式,根据模式对PLC控制系统进行设计。本文所设计控制系统主要依附于PLC控制技术,从PLC控制系统设计的角度,完成了智能穿梭车的控制系统设计。本文从PLC的控制系统设计的一般方法入手,重点分析了PLC控制系统硬件设计和软件设计方法和步骤。根据智能穿梭车的功能要求,设计了基于PLC控制系统的流程图。选取了适用于立体仓库智能穿梭车的直流电机,对其进行数学模型建立,根据所选直流电机的具体参数,设计了合适的三闭环电机调速系统。结合模糊PID对其进行速度控制并利用Matlab进行仿真验证,得出合适的PID参数。完成选取智能穿梭车在立体仓库中运行所需要的外界信息的采集传感器种类使穿梭车更加智能化。
[Abstract]:With the development of social science and technology, the development of logistics industry is more and more rapid, intelligent shuttle vehicle plays an important role in the three-dimensional warehouse. The intelligent shuttle vehicle control system mainly depends on the programmable logic controller and connects many kinds of sensors through the programmable on-line controller. Complete the collection of needed information, control the shuttle vehicle to complete the roadway operation, with flexible, safe, convenient, fast and other characteristics. Design the shuttle vehicle in the warehouse use mode. The PLC control system is designed according to the mode. The control system is mainly attached to the PLC control technology. From the point of view of the PLC control system design, the control system design of the intelligent shuttle vehicle is completed. Starting with the general method of PLC control system design, this paper analyzes the hardware design and software design method and steps of PLC control system, according to the function requirements of intelligent shuttle vehicle. The flow chart of the control system based on PLC is designed. The DC motor which is suitable for the intelligent shuttle vehicle in three-dimensional warehouse is selected, and the mathematical model is established, according to the specific parameters of the selected DC motor. A suitable three-loop motor speed regulation system is designed, which is controlled by fuzzy PID and simulated by Matlab. The appropriate PID parameters are obtained and the types of sensors that are needed for the intelligent shuttle vehicle to run in the three-dimensional warehouse are selected to make the shuttle vehicle more intelligent.
【学位授予单位】：北京邮电大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP273

【参考文献】