Comprehensive speed optimization and vibration reduction method for high-position stacking machine

Abstract

The invention discloses a high-position stacker comprehensive speed optimization vibration reduction method, which is used for performing comprehensive speed optimization on a large high-position stacker exceeding 32 meters, and specifically comprises the following steps of: proposing a system identification method based on a displacement sensor, and establishing a vibration parameter scale under the dynamic load uncertainty condition of the stacker; calculating an inherent frequency change characteristic average value and a damping ratio average value of the high-position stacker under the complex working condition so as to construct a zero-vibration differential input shaper; and after the zero-vibration differential input shaper is convolved with an S-shaped curve speed planning command, a comprehensive speed optimization curve is obtained, and the comprehensive speed optimization curve is input into a stacker control system to control the stacker. The vibration condition of the top end of the high-position stacking machine can be effectively restrained, and the real-time performance of open-loop control is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration reduction and anti-sway of intelligent storage high-position stacker, and in particular to a comprehensive speed optimization vibration reduction method for high-position stacker. Background Art

[0002] At present, the logistics industry is developing rapidly. As a key link in the logistics chain, the use of automation and intelligent technology has become the key to improving warehousing efficiency, reducing costs, and improving service quality. Automated stackers have gradually become an important part of modern warehousing systems, and the working height of stackers has gradually increased with the increase in warehousing demand. However, during the operation of the stacker, the acceleration and deceleration process will cause the cargo platform to swing, resulting in reduced stability of the cargo, increasing the difficulty and time cost of the operation, and causing safety problems and equipment damage.

[0003] The existing stacker control method is mainly used in low-height small stacking operations. The basic speed planning method and sensor feedback displacement data are used to adjust the stacker position. However, it is limited by factors such as the high complexity of the stacking system and the slow response speed of the system. The vibration reduction effect is weak in large-scale high-position stacker operations where the vibration parameters change continuously with the carried mass and height.

[0004] In view of the above problems, the present invention combines an input shaping open-loop control method with an S-curve speed planning to suppress the operating vibration and eliminate the residual swing of a high-position stacker. Summary of the invention

[0005] The purpose of the present invention is to provide a high-position stacker comprehensive speed optimization vibration reduction method to solve the problem that the control method in the prior art has slow feedback speed and cannot effectively reduce the top operation and residual vibration amplitude of the high-position stacker. The present invention quickly, simply and effectively suppresses the operation vibration and residual swing amplitude of the high-position stacker with time-varying vibration parameters through the rapid and effective construction of the zero vibration differential input shaper and the accurate planning of the non-standard S-curve speed.

[0006] The object of the present invention is achieved through the following technical solutions: a method for optimizing the vibration reduction of the comprehensive speed of a high-position stacker, which takes into account the mass of the goods carried by the stacker and the height change of the pallet during the transportation process, and specifically includes the following steps:

[0007] S1. Summarize and construct a vibration parameter table of the high-position stacker; wherein the vibration parameters include vibration natural frequency and vibration damping ratio;

[0008] S2, calculating the average working parameter according to the vibration parameter scale constructed in step S1, so as to construct a zero vibration differential input shaper based on the average working parameter;

[0009] S3. Construct an S-curve speed plan with a terminal speed value, specifically: perform time domain convolution on the zero vibration differential input shaper and the acceleration curve to obtain the shaped acceleration curve; integrate the shaped acceleration curve to obtain a comprehensive speed optimization curve to control the stacker.

[0010] Furthermore, the step S1 includes the following sub-steps:

[0011] S1.1. Use a laser displacement sensor to measure the time domain signal of the vibration amplitude at the top of the high-position stacker;

[0012] S1.2, when the stacker loading platform is empty, the height of the storage shelf is used as the discrete interval, and when the stacker loading platform reaches the first shelf to the top shelf respectively, step S1.1 is repeated to obtain vibration time domain signals of multiple different heights when the stacker is empty;

[0013] S1.3, when the stacker loading platform is fully loaded, the storage shelf layer height is used as the discrete interval, and when the stacker loading platform reaches the first shelf to the top shelf respectively, repeat step S1.1 to obtain vibration time domain signals of multiple different heights when the stacker is fully loaded;

[0014] S1.4, perform time domain analysis on each vibration time domain signal obtained in step S1.2 and step S1.3, and calculate the vibration damping ratio corresponding to the vibration time domain signal by the following formula:

[0015]

[0016] Among them, ξ eh represents the vibration damping ratio when the stacker is unloaded and at a height of h, ξ fh F represents the vibration damping ratio when the stacker is fully loaded and the height is h; h = 0H, H, ..., λH, H represents the height of the storage shelf, h = 0H represents the bottom layer height, and h = λH represents the top layer height; F eh，n represents the nth vibration maximum value corresponding to the vibration time domain signal when the stacker is unloaded and at a height of h, F eh，n+k represents the n+kth vibration maximum corresponding to the vibration time domain signal when the stacker is unloaded and at a height of h; F fh，n represents the nth vibration maximum corresponding to the vibration time domain signal when the stacker is fully loaded and the height is h, F fh，n+k It represents the n+kth vibration maximum value corresponding to the vibration time domain signal when the stacker is fully loaded and the height is h;

[0017] S1.5, performing Fourier transform on each vibration time domain signal obtained in step S1.2 and step S1.3 to obtain a corresponding frequency domain signal, and then performing frequency domain analysis on the frequency domain signal to obtain the vibration natural frequency corresponding to the vibration time domain signal;

[0018] S1.6. Construct a vibration parameter scale according to the vibration damping ratio corresponding to the vibration time domain signal obtained in step S1.4 and the vibration natural frequency corresponding to the vibration time domain signal obtained in step S1.5.

[0019] Furthermore, in step S1.5, the vibration frequency domain signal of the stacker is obtained by using the fast Fourier transform through the VOFA+ software, and the vibration natural frequency is obtained after frequency domain analysis.

[0020] Furthermore, the step S2 specifically includes:

[0021] Referring to the vibration parameter table constructed in step S1, the average operating parameter is calculated by the following formula, and a zero vibration differential input shaper is constructed based on the calculated average operating parameter:

[0022]

[0023] f(t)=A1δ(t)+A2δ(t-t2)+A3δ(t-t3)

[0024] Where, under the condition of a single determined stacking task, ω represents the average vibration natural frequency, ω eb and ω ed They represent the vibration natural frequencies of the cargo platform at the bottom and top layers when the stacker is empty, ω fb and ω fd They represent the vibration natural frequencies of the cargo platform at the bottom and top layers when the stacker is fully loaded; ξ represents the average vibration damping ratio, ξ eb and ed They represent the vibration damping ratios of the cargo platform at the bottom and top layers when the stacker is empty, ξ fb and fd They respectively represent the vibration damping ratios of the cargo platform at the bottom and top layers when the stacker is fully loaded; V(ω, ξ) represents the residual vibration ratio; i=1, 2, 3, which has no practical meaning; t1 is the time when the initial pulse is applied, t2 is the time delay when the second pulse is applied by the zero vibration differential input shaper, and t3 is the time delay when the third pulse is applied by the zero vibration differential input shaper; A1, A2 and A3 represent the amplitudes of the initial pulse, the second pulse and the third pulse respectively; K is the parameter transfer value related to the average vibration damping ratio, and T is the parameter transfer value related to the average vibration natural frequency and the average vibration damping ratio; f(t) is the time domain form of the zero vibration differential input shaper.

[0025] Furthermore, the zero vibration differential input shaper and the acceleration curve are convolved in the time domain to obtain the shaped acceleration curve; the shaped acceleration curve is integrated to obtain the comprehensive speed optimization curve, which is specifically implemented by the following formula:

[0026]

[0027] Where a(t) represents the acceleration at time t; a0 is the initial acceleration, which is 0 when the motion starts from rest; j is the preset jerk; a m is the preset maximum acceleration; t i is the time node when each speed plan changes, i = 1, 2, 3, 4, 5, 6, 7, which has no practical meaning; v(t) represents the running speed at time t; v0 is the initial speed, and v0 is 0 when starting from rest; v i is the speed value at the end of each speed planning, i = 1, 2, 3, 4, 5, 6, 7, which has no practical meaning; v m is the preset maximum uniform running speed; v e is the preset final speed.

[0028] Furthermore, in step S3, when the speed planning time exceeds the average vibration period, the zero vibration differential input shaper performs time domain convolution with the S-curve speed planning.

[0029] Compared with the existing method, the beneficial effects of the present invention are:

[0030] (1) The vibration parameter scale constructed by the present invention and the zero vibration differential input shaper based on the average operating frequency are well adapted to the time-varying nature of the vibration parameters during the operation of the high-position stacker, and reflect the actual vibration changes of the stacker;

[0031] (2) The non-standard S-curve speed planning adopted by the present invention enables the stacker to have a terminal speed, thereby ensuring the safety of the stacker when passing through the non-working area and effectively improving the efficiency of high-position stacker scheduling;

[0032] (3) The present invention combines a zero-vibration differential input shaper based on an average operating frequency with an S-curve speed planning, thereby reducing the computational cost of the control system and suppressing the vibration of the high-level stacker in a simple, fast and efficient manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a flow chart of the comprehensive speed optimization and vibration reduction method of the high-position stacker of the present invention;

[0034] Figure 2 is a flow chart of constructing a zero vibration differential input shaper based on average working parameters of the present invention;

[0035] Figure 3 It is a flow chart of the calculation process of the non-standard S-curve speed planning with a non-zero final speed of the present invention;

[0036] Figure 4It is the acceleration curve and comprehensive speed optimization curve diagram after shaping of the present invention;

[0037] Figure 5 It is a schematic diagram of the S-shaped curve planning when the uniform motion stage of the present invention disappears;

[0038] Figure 6 It is a schematic diagram of the S-curve planning when the uniform deceleration stage disappears according to the present invention. DETAILED DESCRIPTION

[0039] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims. It should be understood that the above general description and the detailed description that follows are merely exemplary and explanatory and cannot limit the present application.

[0040] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0041] It should be understood that, although the term first, second, third, etc. may be used in the present application to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of..." or "when..." or "in response to determination". Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process and method including a series of elements include not only those elements, but also include other elements not clearly listed, or also include elements inherent to such process and method. In the absence of more restrictions, the elements limited by the statement "including one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0042] The present invention is described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0043] See also Figure 1 The high-position stacker comprehensive speed optimization vibration reduction method of the present invention needs to consider the vibration frequency changes caused by factors such as the mass of the goods carried by the stacker and the height change of the pallet during the transportation process. The method specifically includes the following steps:

[0044] S1. Summarize and construct a vibration parameter table of the high-position stacker; wherein the vibration parameters include the vibration natural frequency and the vibration damping ratio.

[0045] S1.1. Use a laser displacement sensor to measure the time domain signal of the vibration amplitude at the top of the high-position stacker.

[0046] S1.2. When the stacker's cargo platform is empty, that is, when the mass of the cargo carried by the stacker is zero, take the warehouse shelf layer height value H as the discrete interval, and when the stacker's cargo platform reaches the first shelf to the top shelf respectively, repeat step S1.1 to obtain vibration time domain signals at multiple different heights when the stacker is empty.

[0047] S1.3. When the stacker's cargo platform is fully loaded, that is, when the mass of the goods carried by the stacker is the maximum mass M, take the warehouse shelf layer height value H as the discrete interval, and when the stacker's cargo platform reaches the first shelf to the top shelf respectively, repeat step S1.1 to obtain vibration time domain signals at multiple different heights when the stacker is fully loaded.

[0048] S1.4, perform time domain analysis on each vibration time domain signal obtained in step S1.2 and step S1.3, and calculate the vibration damping ratio corresponding to the vibration time domain signal by the following formula:

[0049]

[0050] Among them, ξ eh represents the vibration damping ratio when the stacker is unloaded and at a height of h, ξ fh F represents the vibration damping ratio when the stacker is fully loaded and the height is h; h = 0H, H, ..., λH, H represents the height of the storage shelf, h = 0H represents the bottom layer height, and h = λH represents the top layer height; F eh，n represents the nth vibration maximum value corresponding to the vibration time domain signal when the stacker is unloaded and at a height of h, F eh，n+k represents the n+kth vibration maximum corresponding to the vibration time domain signal when the stacker is unloaded and at a height of h; F fh，n represents the nth vibration maximum corresponding to the vibration time domain signal when the stacker is fully loaded and the height is h, F fh，n+k It represents the n+kth vibration maximum corresponding to the vibration time domain signal when the stacker is fully loaded and the height is h.

[0051] It should be understood that in step S1.1, the time domain signal of the vibration amplitude is measured, and a time domain signal contains multiple vibration maxima, which are determined according to the adjacent maximum and minimum values ​​of the vibration amplitude. The vibration will gradually decrease over time, so the vibration maximum will also gradually decrease over time.

[0052] S1.5. Perform Fourier transform on each vibration time domain signal obtained in step S1.2 and step S1.3 to obtain a corresponding frequency domain signal, and then perform frequency domain analysis on the frequency domain signal to obtain the vibration natural frequency corresponding to the vibration time domain signal.

[0053] Furthermore, in step S1.5, the frequency domain signal of the stacker vibration is obtained by using the fast Fourier transform through the VOFA+ software, and the natural frequency of the vibration is obtained after frequency domain analysis.

[0054] S1.6. Construct a vibration parameter scale according to the vibration damping ratio corresponding to the vibration time domain signal obtained in step S1.4 and the vibration natural frequency corresponding to the vibration time domain signal obtained in step S1.5.

[0055] It should be understood that in the constructed vibration parameter scale, the rows represent the four vibration parameters of no-load natural frequency, no-load damping ratio, full-load natural frequency and full-load damping ratio, and the columns are 0H, H, 2H, 3H...λH. According to the one-to-one correspondence between rows and columns, the corresponding no-load natural frequency, no-load damping ratio, full-load natural frequency or full-load damping ratio can be obtained.

[0056] S2. Calculate average operating parameters according to the vibration parameter table constructed in step S1, so as to construct a zero vibration differential input shaper based on the average operating parameters.

[0057] Specifically, referring to the vibration parameter table constructed in step S1, the average working parameter is calculated by the following formula, and a zero vibration differential input shaper is constructed based on the calculated average working parameter:

[0058]

[0059] f(t)=A1δ(t)+A2δ(t-t2)+A3δ(t-t3)

[0060] Where, under the condition of a single determined stacking task, ω represents the average vibration natural frequency, ω eb and ω ed They represent the vibration natural frequencies of the cargo platform at the bottom and top layers when the stacker is empty, ω fb and ω fd They represent the vibration natural frequencies of the cargo platform at the bottom and top layers when the stacker is fully loaded; ξ represents the average vibration damping ratio, ξ eb and edThey represent the vibration damping ratios of the cargo platform at the bottom and top layers when the stacker is empty, ξ fb and fd They respectively represent the vibration damping ratios of the cargo platform at the bottom and top layers when the stacker is fully loaded; V(ω, ξ) represents the residual vibration ratio; i=1, 2, 3, which has no practical meaning; t1 is the time of application of the initial pulse, which is 0, t2 is the time delay of the second pulse application of the zero vibration differential input shaper, and t3 is the time delay of the third pulse application of the zero vibration differential input shaper; A1, A2 and A3 represent the amplitudes of the initial pulse, the second pulse and the third pulse application, respectively; K is the parameter transfer value related to the average vibration damping ratio, T is the parameter transfer value related to the average vibration natural frequency and the average vibration damping ratio; f(t) is the time domain form of the zero vibration differential input shaper.

[0061] It should be understood that in step S2, for the stacking tasks in the two states of empty and full load, the vibration natural frequencies and vibration damping ratios of the two states in the stacker vibration parameter table are respectively referred to to calculate the corresponding average vibration natural frequency and average vibration damping ratio. The residual vibration ratio V (ω, ξ) needs to be derived step by step through the vibration of the second-order system. In the embodiment of the present invention, only the average vibration natural frequency and the average vibration damping ratio need to be considered.

[0062] S3. Construct an S-curve speed plan with a terminal speed value, specifically: perform time domain convolution on the zero vibration differential input shaper and the acceleration curve to obtain the shaped acceleration curve; integrate the shaped acceleration curve to obtain a comprehensive speed optimization curve to control the stacker.

[0063] Furthermore, the zero vibration differential input shaper and the acceleration curve are convolved in the time domain to obtain the shaped acceleration curve; the shaped acceleration curve is integrated to obtain the comprehensive speed optimization curve, such as Figure 4 As shown, it is implemented by the following formula:

[0064]

[0065] Where a(t) represents the acceleration at time t; a0 is the initial acceleration, which is 0 when the motion starts from rest; j is the preset jerk; a m is the preset maximum acceleration; t i is the time node when each speed plan changes, i = 1, 2, 3, 4, 5, 6, 7, which has no practical meaning; v(t) represents the running speed at time t; v0 is the initial speed, and v0 is 0 when starting from rest; v i is the speed value at the end of each speed planning, i = 1, 2, 3, 4, 5, 6, 7, which has no practical meaning, where v3 and v4 are v m ;vm is the preset maximum uniform running speed; v e is the preset final speed.

[0066] It should be noted that the S-curve speed planning can make the stacker have a terminal speed, so that the stacker can run at a low uniform speed.

[0067] Furthermore, by using the comprehensive speed optimization curve to control the stacker to move, a displacement curve shown in the following formula can be obtained. The displacement curve is determined based on the shaped acceleration curve and its corresponding speed curve, and is expressed as:

[0068]

[0069] Where S(t) represents the preset target displacement at time t, which is the S-curve speed planning; S i It is the displacement value at the end of each speed planning, i=1, 2, 3, 4, 5, 6, which has no practical meaning.

[0070] It should be noted that the operation of the acceleration curve and the zero vibration differential input shaper specifically refers to a weighted delay accumulation process based on the acceleration signal, which ultimately realizes weighted sliding and time delay. In the code, each time delay is converted into a corresponding discrete step through a discrete time step and an array containing the zero vibration differential input shaper coefficients, and the acceleration curve is delayed. After calculating the fully shaped acceleration curve, the integrated speed optimization curve can be directly output by integrating the acceleration curve, which is completed by the computer and output to the controller.

[0071] It should be understood that the S-curve speed planning and the zero-vibration differential input shaper can each play a role in suppressing vibration. Among them, the S-curve speed planning can be understood as suppressing vibration by moving the action more slowly, and the zero-vibration differential input shaper offsets the original vibration according to the vibration characteristics. The combination of the two is better than using the S-curve speed planning alone.

[0072] Further, in step S3, when the speed planning time exceeds the average vibration period, the zero vibration differential input shaper performs time domain convolution with the S-curve speed planning.

[0073] The comprehensive speed optimization and vibration reduction method for high-position stacker crane of the present invention will be described in detail below based on the embodiments, and the purpose and effect of the present invention will become more obvious.

[0074] Step 1: Statistically construct a vibration parameter table for a 32-meter high stacker under various loading conditions.

[0075] Step 2: Under a single stacking operation task, take the vibration parameters of the highest layer and the lowest layer and calculate the average working parameters; the average working parameters include the average vibration natural frequency and the average vibration damping.

[0076] Step 3: Construct a zero-vibration differential input shaper based on average operating parameters. Specifically, Figure 2 As shown, before starting the movement, determine the lowest and highest layers of the stacking task; obtain the corresponding data in the vibration parameter table to calculate the average vibration natural frequency and the average vibration damping ratio, and further calculate the average vibration period according to the average vibration natural frequency; judge whether the displacement of the stacking task meets the intervention requirements of the zero vibration differential input shaper. When the displacement of the stacking task meets the intervention requirements of the zero vibration differential input shaper, that is, the movement time of the stacking task is greater than the calculated average vibration period, as shown in FIG. Figure 4 As shown, calculate the delay time t of the zero vibration differential input shaper i and vibration amplitude A i ; When the movement time is smaller than the calculated average vibration period, the zero vibration differential input shaper will not be triggered.

[0077] Step 4: Construct an S-curve speed planning with a final speed value, that is, calculate a non-standard S-curve speed planning curve according to the final speed requirement. Specifically, Figure 3 As shown in the figure, before starting the movement, the final speed, maximum acceleration, jerk, target displacement, and maximum uniform speed have been preset. According to the change of displacement size, it is judged whether this stacking task has a uniform motion stage. If v m If v m If it does not exist, recalculate the maximum running speed to further determine whether there is a uniform deceleration stage. If not, recalculate the maximum acceleration to further determine whether there is a uniform acceleration stage. If not, further calculate the maximum acceleration during acceleration. Figure 3 Once any of the above judgments is established, the corresponding comprehensive speed optimization curve can be output to complete the speed planning. When the uniform motion stage disappears, the preset maximum uniform speed does not exist. The corresponding curve planning example is as follows Figure 5 As shown in the figure, the uniform deceleration stage disappears, and the maximum acceleration during deceleration needs to be recalculated. The corresponding curve planning example is as follows: Figure 6 shown.

[0078] Step 5: Perform time domain convolution on the zero vibration differential input shaper and the acceleration curve, that is, input the acceleration curve into the zero vibration differential input shaper to obtain the shaped acceleration curve; integrate the shaped acceleration curve, output the comprehensive speed optimization trajectory, and control the stacker.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for optimizing the comprehensive speed of a high-position stacker and reducing vibration, characterized in that: The method takes into account the mass of the goods carried by the stacker and the height change of the pallet during the transportation process, and specifically includes the following steps: S1. Summarize and construct a vibration parameter table of the high-position stacker; wherein the vibration parameters include vibration natural frequency and vibration damping ratio; S2, calculating the average working parameter according to the vibration parameter scale constructed in step S1, so as to construct a zero vibration differential input shaper based on the average working parameter; S3. Construct an S-curve speed plan with a terminal speed value, specifically: perform time domain convolution on the zero vibration differential input shaper and the acceleration curve to obtain the shaped acceleration curve; integrate the shaped acceleration curve to obtain a comprehensive speed optimization curve to control the stacker.

2. The high-position stacker comprehensive speed optimization and vibration reduction method according to claim 1 is characterized in that: The step S1 comprises the following sub-steps: S1.

1. Use a laser displacement sensor to measure the time domain signal of the vibration amplitude at the top of the high-position stacker; S1.2, when the stacker loading platform is empty, the height of the storage shelf is used as the discrete interval, and when the stacker loading platform reaches the first shelf to the top shelf respectively, step S1.1 is repeated to obtain vibration time domain signals of multiple different heights when the stacker is empty; S1.3, when the stacker loading platform is fully loaded, the storage shelf layer height is used as the discrete interval, and when the stacker loading platform reaches the first shelf to the top shelf respectively, repeat step S1.1 to obtain vibration time domain signals of multiple different heights when the stacker is fully loaded; S1.4, perform time domain analysis on each vibration time domain signal obtained in step S1.2 and step S1.3, and calculate the vibration damping ratio corresponding to the vibration time domain signal by the following formula: Among them, ξ eh represents the vibration damping ratio when the stacker is unloaded and at a height of h, ξ fh F represents the vibration damping ratio when the stacker is fully loaded and the height is h; h=0H,H,...,λH, H represents the height of the storage shelf, h=0H represents the bottom layer height, and h=λH represents the top layer height; F eh,n represents the nth vibration maximum value corresponding to the vibration time domain signal when the stacker is unloaded and at a height of h, F eh,n+k represents the n+kth vibration maximum corresponding to the vibration time domain signal when the stacker is unloaded and at a height of h; F fh,n represents the nth vibration maximum corresponding to the vibration time domain signal when the stacker is fully loaded and the height is h, F fh,n+k It represents the n+kth vibration maximum value corresponding to the vibration time domain signal when the stacker is fully loaded and the height is h; S1.5, performing Fourier transform on each vibration time domain signal obtained in step S1.2 and step S1.3 to obtain a corresponding frequency domain signal, and then performing frequency domain analysis on the frequency domain signal to obtain the vibration natural frequency corresponding to the vibration time domain signal; S1.

6. Construct a vibration parameter scale according to the vibration damping ratio corresponding to the vibration time domain signal obtained in step S1.4 and the vibration natural frequency corresponding to the vibration time domain signal obtained in step S1.

5.

3. The method for optimizing the comprehensive speed of a high-position stacker according to claim 2 is characterized in that: In step S1.5, the stacker vibration frequency domain signal is obtained by using the fast Fourier transform through the VOFA+ software, and the vibration natural frequency is obtained after frequency domain analysis.

4. The high-position stacker comprehensive speed optimization and vibration reduction method according to claim 1 is characterized in that: The step S2 specifically includes: Referring to the vibration parameter table constructed in step S1, the average operating parameter is calculated by the following formula, and a zero vibration differential input shaper is constructed based on the calculated average operating parameter: f(t)=A1δ(t)+A2δ(t-t2)+A3δ(t-t3) Where, under the condition of a single determined stacking task, ω represents the average vibration natural frequency, ω eb and ω ed They represent the vibration natural frequencies of the cargo platform at the bottom and top layers when the stacker is empty, ω fb and ω fd They represent the vibration natural frequencies of the cargo platform at the bottom and top layers when the stacker is fully loaded; ξ represents the average vibration damping ratio, ξ eb and ed They represent the vibration damping ratios of the cargo platform at the bottom and top layers when the stacker is empty, ξ fb and fd They respectively represent the vibration damping ratios of the cargo platform at the bottom and top layers when the stacker is fully loaded; V(ω,ξ) represents the residual vibration ratio; i=1,2,3, which has no practical meaning; t1 is the time of application of the initial pulse, t2 is the time delay of the second pulse application of the zero vibration differential input shaper, and t3 is the time delay of the third pulse application of the zero vibration differential input shaper; A1, A2 and A3 represent the amplitudes of the initial pulse, the second pulse and the third pulse application, respectively; K is the parameter transfer value related to the average vibration damping ratio, T is the parameter transfer value related to the average vibration natural frequency and the average vibration damping ratio; f(t) is the time domain form of the zero vibration differential input shaper.

5. The high-position stacker comprehensive speed optimization and vibration reduction method according to claim 1 is characterized in that: The zero vibration differential input shaper and the acceleration curve are convolved in the time domain to obtain the shaped acceleration curve; the shaped acceleration curve is integrated to obtain the comprehensive speed optimization curve, which is specifically implemented by the following formula: Where a(t) represents the acceleration at time t; a0 is the initial acceleration, which is 0 when the motion starts from rest; j is the preset jerk; a m is the preset maximum acceleration; t i is the time node when each speed plan changes, i = 1, 2, 3, 4, 5, 6, 7, which has no practical meaning; v(t) represents the running speed at time t; v0 is the initial speed, and v0 is 0 when starting from rest; v i is the speed value at the end of each speed planning, i = 1, 2, 3, 4, 5, 6, 7, which has no practical meaning; v m is the preset maximum uniform running speed; v e is the preset final speed.

6. The method for optimizing the comprehensive speed of a high-position stacker according to claim 1 is characterized in that: In step S3, when the speed planning time exceeds the average vibration period, the zero vibration differential input shaper performs time domain convolution with the S-curve speed planning.

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