基于自動化立體倉庫堆垛機的運動仿真研究.pdf

1、西安科技大學碩士學位論文基于自動化立體倉庫堆垛機的運動仿真研究姓名：劉丹申請學位級別：碩士專業(yè)：機械電子工程指導教師：周新建@Subject：StudyofMotionSimulationBasedonWarehouseAutomationStackerSpeciality：MechatronicEngineeringName：LiuDan(Signature)Instruct：ZhouXinjian(Signature)ABSTRAC

2、TTheextensiveutilizationofautomatedwarehouseallowsbusinessesgreatlyincreasethespeedofproductionlogisticswhilethestackerasamajautomatedwarehousehlingequipmenttheirwkingefficiencydirectlyaffectstheoperatingefficiencyeconom

3、icbenefitsoftheautomatedwarehouse.Severalindexesthatreflecttheadvantagesdisadvantagesofstackerperfmanceareasfollows:operationspeedliftingspeedfkspeedstationarityvibrationnoiseprecisionofrecognitionsite.Amongthemthespeedc

4、ontrolofstackergreatlyimpactsthestationarityvibrationnoiserecognitionaccuracy.Withtheextensiveutilizationofautomatedwarehouseespeciallythedesignspeedcontrolofthestackerwithheavyloadhighspeedhighefficiencygreaterliftinghe

5、ightareparticularlyimptant.Theautomatedwarehousestackersystemwasresearchedinthispaperthedesignschemeofvelocitypositiondetectioncontrolsysteminthethreelargemechanismswereproposed.Thestressanalysisoftheoperationganizationw

6、ascarriedoutthemechanicalmodelofmotioncomponentwasestablishedbasedonmaterialmechanicstheytheupperlowerbeamscolumnsofthedeflectionfmulawerederivedwhenthestackingmachinewasintheruntimethevibrationmodelofthecolumnwasestabli

7、shedthevibrationequationwasderivedtheoperationofstackercausedbythedeflectionchangesofcolumnwassimulated.Accdingtoaccelerationdecelerationshockcausedbymultirangespeedcontrolcurveaswellascolumndefmationcargooffsetcausedbyg

8、reatvelocitychangewhenstartingstoppingtheSvelocitycurvecontrolschemewasproposed.AftercomparedthestackercolumndeflectionchangethroughthesimulationbetweenmultirangespeedcontrolcurveSvelocitycurvecontrolschemewecaneasilycom