长纵深式立体仓库拣选路径优化及堆垛机控制系统的设计

发布时间：2019-04-25 15:48

【摘要】：仓储管理是一门集优化调度、自动化控制、物流管理等多门学科为一体的综合类学科。而自动化立体仓库作为仓储管理的一个重要节点,除了对货物进行存储外,它还是连接供应商和需求商的中转站。所以对自动化立体仓库的优化和控制,不仅降低了货物出入库的时间,节省了人力物力,而且从整个仓储管理上讲也大大降低了货物的作业循环时间。对立体仓库的优化应从堆垛机拣选路径和堆垛机控制系统入手。考虑到工程实际中可能影响立体仓库作业的种种问题,并在此基础上介绍了一种能够更灵活应对一些突发情况的仓储模式——长纵深式立体仓库。该仓库的特点是货架的纵深较长,而且在一条巷道上配有两台堆垛机。首先,根据长纵深式立体仓库的特点,确定了仓库的整体布局。即确定两堆垛机出入库站台的位置,以及两堆垛机在进行货物出入库作业时的“U”型路径作业模式。此外为了避免一条巷道内的两台堆垛机发生碰撞,采用区域划分的方法将多车场路由问题转化为了车场路由问题。其次,对堆垛机拣选路径的终点——仓库的货位点,进行了优化分析。得出仓库货位优化问题为多目标优化问题,并运用粒子群算法对该问题进行求解,实现了仓库货位的合理分布。而为了确定堆垛机拣选路径的起点,讨论了堆垛机的停留策略。通过分析计算,确定以堆垛机出入库站台为堆垛机的停留位置。最后,建立堆垛机拣选路径的数学模型,运用遗传学算法对堆垛机拣选路径进行优化,并通过MATLAB软件对优化模型进行实例仿真,得出对堆垛机拣选路径优化有效的结论。最后,对堆垛机控制系统进行设计。通过控制系统的设计,实现了堆垛机能够沿最优路径运动的目的。为了实现控制的可靠性,并兼顾经济性原则,选择了以西门子S7-200为核心的控制系统。PLC通过其扩展的EM253PWM/PTO脉冲输出模块对外发射脉冲,脉冲经伺服驱动器传入到伺服电机,对电机的转角进行控制,从而实现了堆垛机在空间内的运动。此外为了防止堆垛机的碰撞,控制系统中设置了限位开关;为了更有效地对货物信息进行读取,规划货物的货位,设置了条码系统;为了对堆垛机的位置进行精确的控制设置了水平、垂直认址系统;设置的监控系统可以实时对系统的运动进行监控,并且还可以对故障进行排查。
[Abstract]:Warehousing management is a multi-disciplinary integrated subject, such as optimal scheduling, automatic control, logistics management and so on. As an important node of warehouse management, automated warehouse not only stores goods, but also connects suppliers and requestors. Therefore, the optimization and control of the automated warehouse not only reduces the time of goods entering and leaving the warehouse, saves manpower and material resources, but also greatly reduces the working cycle time of the goods from the whole storage management. The optimization of the three-dimensional warehouse should start with the selection path of the stacker and the control system of the stacker. Considering all kinds of problems which may affect the operation of stereoscopic warehouse in engineering practice, this paper introduces a kind of storage mode which can deal with some unexpected situations more flexibly, that is, long-depth warehouse. The warehouse is characterized by a long shelf depth and two stacker cranes in one roadway. First of all, according to the characteristics of the long-depth warehouse, the overall layout of the warehouse is determined. That is to say, to determine the position of the two stacker platforms and the "U" path operation mode of the two stacker cranes in the operation of the cargo entry and exit depot. In addition, in order to avoid collision between two stacker cranes in a roadway, the multi-yard routing problem is transformed into a depot routing problem by using the method of region division. Secondly, this paper optimizes and analyzes the terminal point of the stacker selection path-the warehouse's cargo point, which is the end point of the stacker's selection path. It is concluded that the warehouse space optimization problem is a multi-objective optimization problem, and the particle swarm optimization algorithm is used to solve the problem, and the reasonable distribution of the warehouse cargo space is realized. In order to determine the starting point of the pick-up path of the stacker, the residence strategy of the stacker is discussed. Through analysis and calculation, the resident position of the stacker is determined by taking the platform of stacker in and out of the stacker as the stacker. Finally, the mathematical model of the selection path of stacker crane is established, and the genetic algorithm is used to optimize the selection path of the stacker crane. Finally, the optimization model is simulated by MATLAB software, and the conclusion is drawn that the selection path of the stacking crane is optimized effectively. Finally, the control system of stacker is designed. Through the design of the control system, the stacker can move along the optimal path. In order to realize the reliability of the control and take into account the principle of economy, the control system based on Siemens S7x200 is selected. The PLC transmits the pulse through its extended EM253PWM/PTO pulse output module. The pulse is transmitted to the servo motor through the servo drive, and the angle of the motor is controlled, thus realizing the movement of the stacker in space. In addition, in order to prevent the collision of stacker, the limit switch is set in the control system, and the barcode system is set up in order to read the cargo information more effectively and plan the cargo position. In order to accurately control the position of the stacker, the horizontal and vertical addressing system is set up, and the monitoring system can monitor the movement of the system in real time, and can also detect the faults.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TH692.3;TH246

【参考文献】