基于自动化立体仓库堆垛机的运动仿真研究
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摘要
自动化立体仓库的广泛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重要搬运设备,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。体现堆垛机性能优劣的指标有:运行速度、提升速度、货叉速度、平稳性、振动与噪音、认址精度等。其中,堆垛机的速度控制对堆垛机运行的平稳性、振动、认址精度影响都比较大。随着自动化立体仓库的广泛应用,尤其是重载、高速、高效、更大起升高度的堆垛机设计及速度控制尤为重要。
本文对自动化立体仓库堆垛机系统进行研究,提出了堆垛机三大机构的速度、位置检测与控制系统的设计方案。对堆垛机运行机构进行受力分析,建立了堆垛机运动构件的力学模型,利用材料力学理论推导出堆垛机运行时上、下横梁和立柱的挠度公式,立柱的摆动方程,并对堆垛机运行时立柱的挠度变化进行仿真。针对目前堆垛机运行中多档调速控制曲线存在加、减速冲击,启动停止时速度变化过大造成的立柱变形、货物偏移等现象,提出了S型速度曲线控制方案,分别对多档调速曲线控制和S型速度曲线控制进行仿真。对比堆垛机立柱的挠度变化,得出S型速度控制在减小立柱变形量、提高运行效率、减少对堆垛机的冲击等方面优势明显。
The extensive utilization of automated warehouse allows businesses greatly increase the speed of production logistics, while the stacker, as a major automated warehouse handling equipment, their working efficiency directly affects the operating efficiency and economic benefits of the automated warehouse. Several indexes that reflect the advantages and disadvantages of stacker performance are as follows: operation speed, lifting speed, fork speed, stationarity, vibration and noise, precision of recognition site. Among them, the speed control of stacker greatly impacts the stationarity, vibration and noise, recognition accuracy. With the extensive utilization of automated warehouse, especially the design and speed control of the stacker with heavy load, high-speed, high efficiency and greater lifting height are particularly important.
The automated warehouse stacker system was researched in this paper, the design scheme of velocity and position detection and control system in the three large mechanisms were proposed. The stress analysis of the operation organization was carried out and the mechanical model of motion component was established, based on material mechanics theory, the upper and lower beams and columns of the deflection formula were derived when the stacking machine was in the run-time; the vibration model of the column was established; the vibration equation was derived and the operation of stacker caused by the deflection changes of column was simulated. According to acceleration and deceleration shock caused by multi-range speed control curve, as well as, column deformation and cargo offset caused by great velocity change when starting and stopping, the S-velocity curve control scheme was proposed. After compared the stacker column deflection change through the simulation between multi-range speed control curve and S-velocity curve control scheme, we can easily come to the conclusion that the S-type speed control have many obvious advantages in reducing the column deformation, improving operating efficiency and reducing the impact of the stacker.
本文对自动化立体仓库堆垛机系统进行研究,提出了堆垛机三大机构的速度、位置检测与控制系统的设计方案。对堆垛机运行机构进行受力分析,建立了堆垛机运动构件的力学模型,利用材料力学理论推导出堆垛机运行时上、下横梁和立柱的挠度公式,立柱的摆动方程,并对堆垛机运行时立柱的挠度变化进行仿真。针对目前堆垛机运行中多档调速控制曲线存在加、减速冲击,启动停止时速度变化过大造成的立柱变形、货物偏移等现象,提出了S型速度曲线控制方案,分别对多档调速曲线控制和S型速度曲线控制进行仿真。对比堆垛机立柱的挠度变化,得出S型速度控制在减小立柱变形量、提高运行效率、减少对堆垛机的冲击等方面优势明显。
The extensive utilization of automated warehouse allows businesses greatly increase the speed of production logistics, while the stacker, as a major automated warehouse handling equipment, their working efficiency directly affects the operating efficiency and economic benefits of the automated warehouse. Several indexes that reflect the advantages and disadvantages of stacker performance are as follows: operation speed, lifting speed, fork speed, stationarity, vibration and noise, precision of recognition site. Among them, the speed control of stacker greatly impacts the stationarity, vibration and noise, recognition accuracy. With the extensive utilization of automated warehouse, especially the design and speed control of the stacker with heavy load, high-speed, high efficiency and greater lifting height are particularly important.
The automated warehouse stacker system was researched in this paper, the design scheme of velocity and position detection and control system in the three large mechanisms were proposed. The stress analysis of the operation organization was carried out and the mechanical model of motion component was established, based on material mechanics theory, the upper and lower beams and columns of the deflection formula were derived when the stacking machine was in the run-time; the vibration model of the column was established; the vibration equation was derived and the operation of stacker caused by the deflection changes of column was simulated. According to acceleration and deceleration shock caused by multi-range speed control curve, as well as, column deformation and cargo offset caused by great velocity change when starting and stopping, the S-velocity curve control scheme was proposed. After compared the stacker column deflection change through the simulation between multi-range speed control curve and S-velocity curve control scheme, we can easily come to the conclusion that the S-type speed control have many obvious advantages in reducing the column deformation, improving operating efficiency and reducing the impact of the stacker.
引文
[1]冯占营.基于PLC的自动化立体仓库运行系统设计[学位论文] .济南:山东大学,2008
[2]罗志清.自动化立体仓库堆垛机的控制与设计研究[学位论文] .兰州:甘肃工业大学,2000
[3]刘昌棋,董良主编.自动化立体仓库设计[M].北京:机械工业出版社,2004:13-21,93-115,132-138,166-168,182-246
[4]陈月婷.自动化立体仓库控制系统的优化设计与研究[学位论文].济南:济南大学,2008
[5]周奇才.基于现代物流的自动化立体仓库系统(AS/RS)管理及控制技术研究[学位论文].成都:西南交通大学:2002
[6] Kyung Joon Sohn,Hyun Yong Lee,Joonyeob Song. Development of Operating Software for AS/RS including Communication Protocol.IE Interfaces,I995,Vol. 8,No. 1,pp. 45-52
[7] Archetti,F.,Schiomachen,A. Gaivoronski,A. Optimal control policies for automated storage/retrieval system using PN models and stochastic optimization,Petri Nets and Performance Models,1991.PNPM91,Proceedings of the Fourth International VNorkshop on,1991
[8] K.J.Sohn,K.I.Oh and H.Y.Lee,Real-Time Control and Monitoring of an AS/RS for CIM.Proceedings of 1991 Korean Automatic Control Conference,Vol.1,pp.826-831, Seoul,Korea,Oct,1991
[9]刘远伟,何民爱.物流机械[M].北京:机械工业出版社,2006:8-14
[10]宋伟刚.物流工程及其应用[M].北京:机械工业出版社,2003:1-102
[11]吴伯刚.堆垛机提升系统控制策略研究与应用[学位论文].重庆:重庆大学,2003
[12]张欣.堆垛机智能控制系统的研究[学位论文].北京:北京机械工业自动化研究所,2005
[13]周耀辉.立体仓库电控系统研究[学位论文].哈尔滨:哈尔滨工程大学,2006
[14]李监.单立柱有轨巷道式堆垛机结构及多体系统动态仿真分析[学位论文].重庆:重庆大学,2006
[15]http://info.jctrans.com/wuliu/zhq/zhtp/2005630100943.shtml,海尔物流
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[17]傅卫平,范立刚,白生瑞.基于ADAMS的自动化立体仓库巷道式堆垛机的动力学仿真[J].振动与冲击,2007,26(4):151-153
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[19]Van Oudheusden,P. (1992),Storage Layout of AS/RS Racks based on Recurrent Orders,in:European Journal of Operations Research,58,S. 48-56
[20]周银龙.物流设备[M].北京:人民交通出版社,2005: 294-314
[21]孔令中.现代物流设备设计与选用[M].北京化学工业出版社,2005:184-232
[22]郭环,禹水伟.自动化立体仓库堆垛机的设计[J].物流技术,2002:3
[23]JB/T 9018-1999,有轨巷道式高层货架仓库设计规范[S]
[24]赵波.自动化立体仓库堆垛机运行系统的研究[学位论文].吉林:吉林大学,2007
[25]王转,程国全.配送中心系统规划[M].北京:中国物资出版社,2003:5-31
[26]郭环,禹水伟.自动化立体仓库堆垛机的设计[J].物流技术,2002:3
[27]杨维梁,董福盛.堆垛机的结构及其维护保养[J].大众标准化,2005(7)
[28]王勇军,周奇才.自动化仓库堆垛机高速运行控制技术[J].起重运输机械,2003,(1):27-29
[29]熊肖磊.巷道堆垛起重机的认址方式与调速[J].起重运输机械,1996,(8):21-26
[30]黄学飞.中小型自动化立体仓库的智能管理控制系统研制[学位论文].浙江大学,2007
[31]袁海庆.材料力学[M].武汉:武汉理工大学出版社,2004:121-157
[32]贾启芬,刘习军等.工程力学[M].天津:天津大学出版社,2001:304-368
[33]梅建云,李俊彬,黄文华.工程力学[M].沈阳:哈尔滨工程大学出版社,2009
[34]王燕群,赵志岗,亢一澜.材料力学[M].天津:天津大学出版社,2001:266
[35]魏明钟.钢结构设计新规范应用讲评[M].北京:建筑工业出版社,1991:33-94
[36]姚香贵.立体仓库堆垛机及控制系统的研究[学位论文].北京:北京科技大学机械电子工程,2003年
[37]MATLAB公司主页http://www.mathworks.com
[38]魏克新.MATLAB语言与自动控制系统设计[M].北京:机械工业出版社.2002:1-150
[39]王利恒,金天骄.SIMULINK在分布式仿真中的应用.计算机仿真,2005(1) ::13-21
[40]MathWorks.Simulink-Dvnamic system simulation sofeware:User's Guide. 1992:26-37
[41]Kno B C, and Hanselman D C.MATLAB tools for control system analysis and design. Englewood Cliffs:Prentice Hal1,1993:120-157
[42]陈为信,姜华.矿井提升机行程—速度全数字监控器的研制[J].工矿自动化,2002(4) :43-45
[43]马福军,孙全江,刘兵.绝对剩余距离为原则的电梯速度控制方式[J].控制工程,2007(14) :15-22
[44]刘季能.基于绝对剩余距离原则的VVVF电梯速度控制策略[J].论坛,2007(7) :4-5
[45]王宏斌,刘亚君,李雷军.矿井提升机行程控制的研究与实现[J].工业自动化,2002,24(5):18-20
[46]李国华.自动化立体仓库堆垛机技术发展历程[J].权威论坛,2006,(8) :92-95
[47]范狄庆,吴子岳.矿井提升机理想S形速度运行曲线的模型研究[J].矿山机械,2006, 27(2) :241-245
[48]李雷军,尚占宁,路锦程,郑波.矿井提升机行程控制的研究与实现[J].电气传动自动化,2002,24(5) :18-20
[49]张汝成,王广生,聂玉同.梯系统的高精度S型速度曲线的生成和实现[J].起重运输机械,2009,(4) :6-10
[50]吴丽,葛芸萍.矿井提升机数字化控制系统的设计及实践[J].自动化仪表,2009,(8) :38-41
[2]罗志清.自动化立体仓库堆垛机的控制与设计研究[学位论文] .兰州:甘肃工业大学,2000
[3]刘昌棋,董良主编.自动化立体仓库设计[M].北京:机械工业出版社,2004:13-21,93-115,132-138,166-168,182-246
[4]陈月婷.自动化立体仓库控制系统的优化设计与研究[学位论文].济南:济南大学,2008
[5]周奇才.基于现代物流的自动化立体仓库系统(AS/RS)管理及控制技术研究[学位论文].成都:西南交通大学:2002
[6] Kyung Joon Sohn,Hyun Yong Lee,Joonyeob Song. Development of Operating Software for AS/RS including Communication Protocol.IE Interfaces,I995,Vol. 8,No. 1,pp. 45-52
[7] Archetti,F.,Schiomachen,A. Gaivoronski,A. Optimal control policies for automated storage/retrieval system using PN models and stochastic optimization,Petri Nets and Performance Models,1991.PNPM91,Proceedings of the Fourth International VNorkshop on,1991
[8] K.J.Sohn,K.I.Oh and H.Y.Lee,Real-Time Control and Monitoring of an AS/RS for CIM.Proceedings of 1991 Korean Automatic Control Conference,Vol.1,pp.826-831, Seoul,Korea,Oct,1991
[9]刘远伟,何民爱.物流机械[M].北京:机械工业出版社,2006:8-14
[10]宋伟刚.物流工程及其应用[M].北京:机械工业出版社,2003:1-102
[11]吴伯刚.堆垛机提升系统控制策略研究与应用[学位论文].重庆:重庆大学,2003
[12]张欣.堆垛机智能控制系统的研究[学位论文].北京:北京机械工业自动化研究所,2005
[13]周耀辉.立体仓库电控系统研究[学位论文].哈尔滨:哈尔滨工程大学,2006
[14]李监.单立柱有轨巷道式堆垛机结构及多体系统动态仿真分析[学位论文].重庆:重庆大学,2006
[15]http://info.jctrans.com/wuliu/zhq/zhtp/2005630100943.shtml,海尔物流
[16]Lee Hunsoo, Yan Han Mo. Strategies for a Global Logistics and Economic Hub: Incheon 10 International Airport [J]. Journal of Air Transport Management,2003.9(2): 113一121
[17]傅卫平,范立刚,白生瑞.基于ADAMS的自动化立体仓库巷道式堆垛机的动力学仿真[J].振动与冲击,2007,26(4):151-153
[18]Lee,M.-K.(1992),A Storage Assignment Policy in a Man-on-board Automated Storage/Retrieval System,in:International Journal of Production Research,30,10,S. 2281-2292
[19]Van Oudheusden,P. (1992),Storage Layout of AS/RS Racks based on Recurrent Orders,in:European Journal of Operations Research,58,S. 48-56
[20]周银龙.物流设备[M].北京:人民交通出版社,2005: 294-314
[21]孔令中.现代物流设备设计与选用[M].北京化学工业出版社,2005:184-232
[22]郭环,禹水伟.自动化立体仓库堆垛机的设计[J].物流技术,2002:3
[23]JB/T 9018-1999,有轨巷道式高层货架仓库设计规范[S]
[24]赵波.自动化立体仓库堆垛机运行系统的研究[学位论文].吉林:吉林大学,2007
[25]王转,程国全.配送中心系统规划[M].北京:中国物资出版社,2003:5-31
[26]郭环,禹水伟.自动化立体仓库堆垛机的设计[J].物流技术,2002:3
[27]杨维梁,董福盛.堆垛机的结构及其维护保养[J].大众标准化,2005(7)
[28]王勇军,周奇才.自动化仓库堆垛机高速运行控制技术[J].起重运输机械,2003,(1):27-29
[29]熊肖磊.巷道堆垛起重机的认址方式与调速[J].起重运输机械,1996,(8):21-26
[30]黄学飞.中小型自动化立体仓库的智能管理控制系统研制[学位论文].浙江大学,2007
[31]袁海庆.材料力学[M].武汉:武汉理工大学出版社,2004:121-157
[32]贾启芬,刘习军等.工程力学[M].天津:天津大学出版社,2001:304-368
[33]梅建云,李俊彬,黄文华.工程力学[M].沈阳:哈尔滨工程大学出版社,2009
[34]王燕群,赵志岗,亢一澜.材料力学[M].天津:天津大学出版社,2001:266
[35]魏明钟.钢结构设计新规范应用讲评[M].北京:建筑工业出版社,1991:33-94
[36]姚香贵.立体仓库堆垛机及控制系统的研究[学位论文].北京:北京科技大学机械电子工程,2003年
[37]MATLAB公司主页http://www.mathworks.com
[38]魏克新.MATLAB语言与自动控制系统设计[M].北京:机械工业出版社.2002:1-150
[39]王利恒,金天骄.SIMULINK在分布式仿真中的应用.计算机仿真,2005(1) ::13-21
[40]MathWorks.Simulink-Dvnamic system simulation sofeware:User's Guide. 1992:26-37
[41]Kno B C, and Hanselman D C.MATLAB tools for control system analysis and design. Englewood Cliffs:Prentice Hal1,1993:120-157
[42]陈为信,姜华.矿井提升机行程—速度全数字监控器的研制[J].工矿自动化,2002(4) :43-45
[43]马福军,孙全江,刘兵.绝对剩余距离为原则的电梯速度控制方式[J].控制工程,2007(14) :15-22
[44]刘季能.基于绝对剩余距离原则的VVVF电梯速度控制策略[J].论坛,2007(7) :4-5
[45]王宏斌,刘亚君,李雷军.矿井提升机行程控制的研究与实现[J].工业自动化,2002,24(5):18-20
[46]李国华.自动化立体仓库堆垛机技术发展历程[J].权威论坛,2006,(8) :92-95
[47]范狄庆,吴子岳.矿井提升机理想S形速度运行曲线的模型研究[J].矿山机械,2006, 27(2) :241-245
[48]李雷军,尚占宁,路锦程,郑波.矿井提升机行程控制的研究与实现[J].电气传动自动化,2002,24(5) :18-20
[49]张汝成,王广生,聂玉同.梯系统的高精度S型速度曲线的生成和实现[J].起重运输机械,2009,(4) :6-10
[50]吴丽,葛芸萍.矿井提升机数字化控制系统的设计及实践[J].自动化仪表,2009,(8) :38-41