高速高加速巷道堆垛机仿真设计与控制研究

发布时间：2018-11-03 20:09

【摘要】：随着现代化大生产的发展,企业在提高加工制造能力的同时,也在不断的挖掘生产物流潜力,以提高生产系统的总体效益。自动化立体仓库的应用使得企业的生产物流速度大大提高,而堆垛机作为自动化立体仓库的核心物流设备,其工作效率的高低直接影响着自动化立体仓库的运行效率和经济效益。本文以沈阳新松机器人有限公司的某型号双立柱巷道堆垛机为研究对象,分析影响巷道堆垛机水平运行速度及加速度的因素,阐述堆垛机水平运行机构和轮轨附着系数对水平运行加速度的影响,提出增加轮轨附着系数的措施。结合以前基础完善“侧轮式”水平驱动结构的轮轨接触条件,并用有限元分析软件仿真验证其机构的可行性。在分析双立柱巷道堆垛机结构特点的基础上,用三维软件构建堆垛机虚拟样机。通过仿真分析和实际运行经验,对堆垛机结构和轮轨系统采取措施,以减小高速高加速堆垛机的噪音和振动。研究过程中,基于有限元理论和经验公式,运用ANSYS和Matlab软件对巷道堆垛机高速高加速运行时,立柱挠度和振幅、载货台结构动态和疲劳强度、货叉挠度等所关心的问题进行计算和分析。通过仿真分析,验证它们是否能够满足堆垛机高速高加速运行要求,并对其结构改进优化。通过对高速高加速堆垛机运行过程和功能分析,确立堆垛机控制系统的硬件、认址检测方式、通讯和总线方式。结合模糊控制理论,设计模糊PID多模速度控制器,该控制器在堆垛机加速段运行时采用速度模糊PID控制器,在匀速段运行时采用常规PI控制器,在减速段运行时采用位置模糊PID控制器,并借助Matlab软件和实验系统对其速度控制器进行分析研究。本文旨在为自动化立体仓库巷道堆垛机高速高加速化提供系统的研究方法,为解决高速高加速堆垛机设计和分析提供依据,提高自动化立体仓库的仓储效率,其研究成果具有重要的社会和经济意义。
[Abstract]:With the development of modern mass production, enterprises are constantly excavating the potential of production logistics in order to improve the overall efficiency of the production system while improving the processing and manufacturing capacity. The application of automated three-dimensional warehouse greatly improves the production and logistics speed of the enterprise, and the stacker is the core logistics equipment of the automated three-dimensional warehouse. The working efficiency directly affects the operation efficiency and economic benefit of the automated warehouse. In this paper, taking a type of double pillar stacker in Shenyang Xinsong Robot Co., Ltd as the research object, the factors influencing the horizontal running speed and acceleration of the stacker are analyzed. This paper expounds the influence of horizontal running mechanism and wheel / rail adhesion coefficient of stacker crane on the horizontal running acceleration, and puts forward some measures to increase the wheel / rail adhesion coefficient. The wheel / rail contact conditions of the lateral wheel type horizontal drive structure were improved by the former foundation, and the feasibility of the mechanism was verified by the finite element analysis software. Based on the analysis of the structural characteristics of the double pillar stacker, the virtual prototype of the stacker is constructed with three dimensional software. Through simulation analysis and practical operation experience, measures are taken for stacker structure and wheel-rail system to reduce noise and vibration of high speed and high speed stacker. In the course of the research, based on the finite element theory and empirical formula, the deflection and amplitude of the column, the dynamic and fatigue strength of the loading platform structure are studied by using ANSYS and Matlab software when the stacker is running at high speed and high speed. Forks deflection and other concerns are calculated and analyzed. The simulation results show that they can meet the requirements of high speed and high speed operation of stacker, and the structure of stacker is improved and optimized. By analyzing the running process and function of high speed and high speed stacker, the hardware, address detection, communication and bus mode of stacker control system are established. Combined with the fuzzy control theory, a fuzzy PID multimode speed controller is designed. The speed fuzzy PID controller is used in the stacker acceleration section, and the conventional PI controller is used in the uniform speed stage. The position fuzzy PID controller is used in the operation of the deceleration section, and the speed controller is analyzed with the help of the Matlab software and the experimental system. The purpose of this paper is to provide a systematic research method for the high speed and high acceleration of the stacker crane in the automatic stereo warehouse, to provide the basis for the design and analysis of the high speed and high speed stacker, and to improve the storage efficiency of the automated warehouse. The research results have important social and economic significance.
【学位授予单位】：沈阳建筑大学
【学位级别】：硕士
【学位授予年份】：2011
【分类号】：TH246

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