Piler adaptive fuzzy optimal control method

Abstract

The invention provides a new method for enhancing the work efficiency of a piler, analyzes the relation among the maximum allowable velocity, piler cargo capacity and cargo height, considers the control requirements for the piler speed in the starting and braking process of the piler, establishes the relation among the working speed, the cargo capacity and the cargo height, and the relation related to the horizontal position of the piler (determining the states of start, stop and working according to the horizontal position) by using a fuzzy control method, establishes a reasonable function of membership grade and a fuzzy reasoning rule, and designs an adaptive fuzzy optimal control method based on fuzzy control. By using the method, the piler can be kept at the optimal working speed all over the working process, thereby reducing vibration, enhancing the work efficiency and realizing stable changes of the working speed of the piler in different working states. The invention not only meets the requirement of increasing the piler speed, but also realizes stable control on the piler speed and accurate positioning of cargos.

Description

Technical field: [0001] The invention belongs to the field of logistics automation, and in particular relates to a method and technology for optimal control of the operating speed of a stacker. technical background: [0002] The stacker is the most important equipment in the automated three-dimensional warehouse system, and the work efficiency of the stacker is the bottleneck of the work efficiency of the automated three-dimensional warehouse. The key to improving the working efficiency of the stacker is to increase the operating speed of the stacker, but after the operating speed of the stacker is increased, the vibration and noise during the operation of the stacker will increase, so the operating speed of the stacker cannot be increased without limit. Operating speed, the maximum operating speed of the stacker must be limited. [0003] At present, the operating speed of the stacker is generally controlled by the method of step-shift speed regulation. That is, the stacke...

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Problems solved by technology

For example, Zhou Keliang used the method of fuzzy control to optimize the three parameters of the PID controller, so that the control of the stacker at a given speed is relatively stable, that is to say, the stacker still runs at a single speed; Zhang Xin considers There is a speed step problem in the three stages of the stacker operation. Fuzzy control is used for the smooth transition of the speed setting, and the problem of how the stacker changes the operating speed in real time according to the height and load during operation is not considered. The problem of speed optimization during the operation of the stacker was not considered; Zhang Jianrong studied the problem of precise positioning of the stacker, using the fuzzy predictive control method instead of the traditional PID algorithm, and compared the control effects of the two methods, and did not propose a stacker machine speed optimization

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