电动堆高车货叉负载中心距检测研究
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摘要
针对电动堆高车货叉在装载货物时,无法准确检测货物中心距而出现的安全问题,提出了货叉负载中心距检测的系统方案。通过对传感器采集到的数据进行整理分析,得到一种计算货叉负载中心距的算法。将内门架起升前后的货叉负载中心距分别进行计算,采用最小二乘法、多项式和Sigmoid函数对得到的函数关系进行曲线拟合,得到计算货叉负载中心距的算法。通过对误差分析验证的结果表明:所提出的货叉负载中心距的检测算法可以将平均误差率控制在6%左右,能够满足电动堆高车对货叉负载中心距检测的要求,具有较好的使用价值。
For security issues of unable to accurately detect the center distance of goods during loading goods of electric stacker truck forks,a system solution which can detect forks' load center distance is proposed. An algorithm of calculating forks' load center distance,which requires to calculate before and after the inner door frame lifting respectively and adopt the least square method,polynomial and Sigmoid function to fit curve,is propsoed through data analysis collected by sensors. Through calculation error analysis and verification,simulation results show that detection algorithm can control error rate at about 6% to meet he design requirements of the load center distance for electric stacker truck forks,and give feasible control results.
For security issues of unable to accurately detect the center distance of goods during loading goods of electric stacker truck forks,a system solution which can detect forks' load center distance is proposed. An algorithm of calculating forks' load center distance,which requires to calculate before and after the inner door frame lifting respectively and adopt the least square method,polynomial and Sigmoid function to fit curve,is propsoed through data analysis collected by sensors. Through calculation error analysis and verification,simulation results show that detection algorithm can control error rate at about 6% to meet he design requirements of the load center distance for electric stacker truck forks,and give feasible control results.
引文
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2马涛,涂月虹,张衡仪,等.多层堆垛机存储装置:中国,CN201020610428.5,2011-11-16Ma T,Tu Y H,Zhang H Y,et al.Multilayer Stacker storage device:China,CN201020610428.5,2011-11-16
3于海生.CAN总线工业测控网络系统的设计与实现.仪器仪表学报,2001;22(1):17-20Yu H S.The design and implementation of CAN bus industril controlnetwork system.Chinese Journal of Scientific Instrument,2001;22(1):17-20
4卫星,张建军,张利,等.电动汽车CAN网络应用层协议研究.电子测量与仪器学报,2011;25(9):799-804Wei X,Zhang J J,Zhang L,et al.Research of application layer protocol for electril vehicle based on the CAN bus.Journal of Electronic Measurement and Instrument,2011;25(9):799-804
5金琦淳,胡元,崔吉.自动化立体仓库中堆垛机的设计.制造业自动化,2012;34(4):116-118Jin Q C,Hu Y,Cui J.Design of stacking crane in automated warehouse.Manufacturing Automation,2012;34(4):116-118
6蔡忠杭,周学军.工业车辆货叉动作自动控制方法:中国,CN200810062832.0,2008-12-17Cai Z H,Zhou X J.Automatic control method in industrial vehicle fork action:China,CN200810062832.0,2008-12-17
7 Barth V,Bez R,Lauxmann S,et al.Industrial truck with a mast and an additional moving device for a load receiving means:European,EP20010125216,August,2001
8刘丹.基于自动化立体仓库堆垛机的运动仿真研究.西安:西安科技大学,2010Liu D.Study of motion simulation based on wavehouse automation stacker.Xi’an:Xi’an University of Science and Technology,2010
9仲崇权,张立勇,杨素英,等.基于最小二乘原理的多传感器加权融合算法.仪器仪表学报,2003;24(4):427-430Zhong C Q,Zhang L Y,Yang S Y,et al.A weight-ed fusion algorithm of multi-sensor based on the principle of least squares.Chinese Journal of Scientific Instrument,2003;24(4):427-430
10吴德会.基于最小二乘支持向量机的传感器非线性动态补偿.仪器仪表学报,2007;28(6):1018-1023Wu D H.Compensetion for nonlinear dynamic system of transducer based on least squares support vector machine.Chinese Journal of Scientific Instrument,2007,28(6):1018-1023
11邹乐强.最小二乘法原理及其简单应用.科技信息,2010;23:282-283Zou L Q.Least squares method and its simple application.Scince&Technology Information,2010;23:282-283
12陈希孺,王松佳.线性模型中的最小二乘法.上海:上海科学技术出版社,2003Chen X R,Wang S J.Least squares in linear model.Shanghai:Shanghai Science and Technology Press,2003
13张晓有.基于sigmoid函数的概率约束优化问题的光滑近似.沈阳:辽宁师范大学,2013Zhang X Y.A smooth approximation to chance constrained programming based on sigmoid function.Shenyang:Liaoning Normal University,2013