Comparative Study on Speed Control Strategy of Stacker Crane
In this paper,the existing control methods of multi-stage speed regulation,speed closed-loop,and displacement closed-loop for the automated three-dimensional warehouse stackers are analyzed.It is found that the multi-stage speed regu-lation control method has problems such as too large column amplitude,easy speed mutation,and long operating time;and the single speed closed-loop control system needs to run a distance at a low speed to reduce the operation efficiency.Although the displacement embedded speed closed-loop control system has accurate positioning and fast dynamic response,the sudden change of speed can easily lead to the accident of cargo collapse.In view of the above problems,the S-shaped speed curve control method is proposed to improve the speed,safety and positioning accuracy of the stacker.Then,the second order simu-lation model of column swing is established in the Matlab/Simulink module.Compared with the simulation,the speed is re-duced by 7.6%and the amplitude is reduced by 8.3%,so this method has better rapidity,stationarity and positioning accura-cy,especially in medium and long distance.
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