堆垛机控制系统关键技术研究与设计-机械电子工程专业论文.docxVIP

Abstract With the increasing levels of industrial automation and the rapid development of logistics industry, automated warehouse technology has been rapidly expanded; its technical performance levels and the dynamic performances of warehousing machinery equipment are improved. Among them, the stacker is the most important handling equipment of warehouse mechanical equipment, and represents the technological level of the automated warehouse, which directly determines the work efficiency of the automated warehouse. Therefore, the use of advanced control technology, it continues to improve and enhance the performances of stacker, which is an inevitable trend. The dissertation designs stacker control systems, which based on improving the overall performance of the stacker. First, according to the design requirements of customers and storage equipment design standards, the electrical control system of stacker is designed, the schematic of the main control system is designed, and a selection of main hardware, which includes the main controller PLC, inverter, running motor, laser range finder, etc. and the security measures were designed. Secondly because of the stacker control is more complex, it requirements that the stacker can run at high speed, exact stop, also running smoothly, when there is friction, load changes and other uncertainties, the stacker can quickly run smoothly, avoid velocity perturbations arising from the stacker creeping, jitter and positioning errors and other issues, traditional control methods has been difficult to meet the control requirements. Fuzzy cerebella model articulation controller is to the learning ability of neural network and fuzzy logic fuzzy knowledge representation ability organically, which overcomes the CMAC neural network and fuzzy logic flaws in function approximation and control applications. Fuzzy cerebellar model articulation controller is a advanced control technology, which can be well applied to control of the stacker.