Stacker high-precision motion control method and system based on fuzzy immune algorithm

Abstract

The invention provides a stacker high-precision motion control method and system based on a fuzzy immune algorithm, belongs to the field of stacker control, and solves the problems that an existing stacker is low in operation precision, poor in control efficiency and the like. The system comprises a multi-axis motion control module, a double-closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, an environment and maintenance management module and a stacking machine. The method comprises the following steps: constructing a three-level control architecture; adjusting an integral coefficient and a differential coefficient; establishing a feedback quantity calculation model; constructing machine learning parameters; and optimizing a parameter input system. The system is based on a fuzzy immune algorithm, high precision, strong adaptability and high reliability of motion control of the stacker are realized, and the failure rate is reduced. The stacker adopts a modular design, integrates an intelligent control system, and is efficient and stable. According to the method, fuzzy logic and an immune algorithm are combined, the stacker is endowed with intelligent decision ability, and the method adapts to different warehouses.

Description

Technical Field

[0001] The present invention belongs to the technical field of stacker control, and relates to a high-precision motion control method for a stacker based on a fuzzy immune algorithm, in particular to a high-precision motion control system for a stacker based on a fuzzy immune algorithm. Background Technique

[0002] In an automated logistics warehousing system, as the core handling equipment, the motion control accuracy, response speed, and anti-interference ability of the stacker directly determine the operation efficiency and stability of the warehousing system. With the development of intelligent warehousing towards high density and high throughput, the stacker needs to work under complex working conditions, which poses a severe challenge to traditional control methods.

[0003] The traditional PID controller of the prior art is widely adopted because of its simple structure and easy implementation. However, its parameters are fixed and it is difficult to adapt to the non-linear dynamic characteristics of the stacker, the flexible vibration of the steel wire rope, the time-varying track friction, and external disturbances. Especially during high-speed commutation or load mutation, problems such as overshoot, oscillation, and even instability are likely to occur.

[0004] Although the fuzzy control based on expert experience can partially handle non-linear problems, its rule base and membership function rely on manual design and lack the ability of adaptive optimization. When the operation mode of the stacker has diverse priority adjustments, the control performance drops significantly.

[0005] Therefore, we propose a high-precision motion control method and system for a stacker based on a fuzzy immune algorithm. Summary of the Invention

[0006] The purpose of the present invention is to address the above problems existing in the prior art and propose a high-precision motion control method and system for a stacker based on a fuzzy immune algorithm. The technical problem to be solved by this invention is: how to achieve the coordination between the control system control method and the stacker to meet the high precision, strong self-adaptability, and high reliability of the stacker motion control.

[0007] The purpose of the present invention can be achieved by the following technical solutions: A high-precision motion control system for a stacker based on a fuzzy immune algorithm, including a multi-axis motion control module, a double closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, and an environment and maintenance management module.

[0008] Working principle of the present invention: The multi-axis motion control module coordinates the synchronous motion of the horizontal movement, vertical lifting, and fork telescoping of the stacker crane to achieve three-axis linkage control; the double closed-loop feedback module adopts closed-loop control of the position loop + speed loop, combines the data of the encoder and the grating ruler, and corrects the motion deviation in real time; the parameter self-learning module is based on the fuzzy immune algorithm, dynamically learns parameters such as load changes and mechanical wear, and optimizes the PID control parameters; the safety protection and diagnosis module monitors abnormalities such as vibration, temperature, and current, triggers emergency stop or speed reduction, and records fault codes to assist maintenance; the positioning detection module fuses the data of multi-sensors such as absolute grating ruler and laser ranging to achieve a positioning accuracy of ±0.1 mm; the path planning module dynamically plans the optimal path according to the warehousing tasks to avoid deadlocks and collisions; the environment and maintenance management module monitors the temperature and humidity, dust concentration, predicts the service life of key components, and generates a maintenance plan.

[0009] The multi-axis motion control module integrates a fuzzy immune algorithm processing unit and is connected to the servo driver through the EtherCAT bus; the multi-axis motion control module supports: the horizontal speed control range is 0-180 m / min, and the acceleration ≤ 0.3 m / s²; the vertical speed control range is 0-45 m / min, and the acceleration and deceleration are smoothly transitioned by the S curve; the multi-target point path planning function supports online interpolation operation.

[0010] The double closed-loop feedback module includes: absolute grating ruler is used for horizontal positioning, the resolution ≤ 0.01 mm, and the allowable axial floating amount is ±1 mm; magnetostrictive sensor is used for vertical positioning, and the repeat positioning accuracy ≤ ±0.5 mm; 24-bit high-precision encoder is used for the speed loop, and the speed detection error ≤ ±0.1%.

[0011] The parameter self-learning module is configured with a machine learning processor accelerated by FPGA and stores the historical operation data database; data acquisition: stores historical operation data, and the sampling interval ≤ 10 ms; LSTM network structure: input layer → three hidden layers → output layer; online learning: adopts the incremental learning algorithm, and the model update period ≤ 1 hour.

[0012] The safety protection and diagnosis module monitors the current and temperature parameters of the walking motor in real time, and starts the dynamic load reduction program when the power exceeds 22 KW; safety monitoring and diagnosis, fault tree analysis: 20 types of fault modes are preset, and hierarchical protection is triggered: first-level alarm: reduce the running speed; second-level alarm: emergency stop and lock the mechanism; self-diagnosis function: automatically perform servo motor winding insulation detection when starting daily; real-time monitor the EtherCAT network communication packet loss rate.

[0013] The safety protection module also includes a vibration suppression unit and a wire rope breakage protection unit. The vibration suppression unit detects abnormal vibrations through a three-axis acceleration sensor and automatically adjusts control parameters; the wire rope breakage protection unit triggers an emergency brake when the wire rope tension drops by more than 20% of the rated value.

[0014] For the horizontal positioning of the positioning and detection module, an absolute grating scale is laid along the entire length of the ground guide rail, and the reading head is installed at the bottom of the traveling mechanism; for vertical positioning: a magnetostrictive sensor is embedded inside the column, and the detection rod is rigidly connected to the cargo platform mechanism.

[0015] The path planning module includes a dynamic path planning optimization algorithm unit, a vibration suppression unit, and a digital twin unit. The dynamic path planning optimization algorithm unit selects the shortest and smoothest path while avoiding obstacles, reducing unnecessary starts, stops, and turns; the vibration suppression unit eliminates sensor noise through software filtering or adds an S-shaped acceleration and deceleration curve planning during the acceleration stage to suppress mechanical vibrations; the digital twin unit establishes a digital twin model of the stacker crane, simulates the operating state, predicts potential errors, and optimizes parameters in advance.

[0016] The environment and maintenance management module includes an environment detection and control unit, a preventive maintenance unit, and an operation specification training unit. The environment detection and control unit monitors the temperature and humidity in real time, keeps the warehouse at a constant temperature and humidity, and avoids material deformation caused by temperature fluctuations; regularly cleans the dust and debris on the guide rail and transmission components; the preventive maintenance unit reminds to regularly check and lubricate key components such as the guide rail, gear, and bearing; uses a vibration analyzer to monitor abnormal vibrations of the motor and transmission system; predicts the component life through historical data and replaces vulnerable parts in advance; the operation specification training unit plays a video of standard operations to avoid overloading or offloading operation, ensure the stability of the cargo center of gravity, and reduce the impact on the fork and column.

[0017] The control system supports dual-protocol communication interfaces of CANopen and Profinet; has an online parameter tuning function, providing an expert debugging mode; and a visual monitoring interface for the operating state, which can display the positioning error curve and energy consumption data in real time.

[0018] It also includes a stacker crane, which includes a ground rail and an absolute grating scale arranged in parallel on the warehouse floor and a sky rail placed on the top of the warehouse. There is a moving frame mechanism between the ground rail and the sky rail. A screen-equipped electric control box and a ladder are provided on the left side of the moving frame mechanism. A cargo platform mechanism is driven on the moving frame mechanism. An angle lifting and fine-tuning mechanism is provided at the upper end of the cargo platform mechanism. A transverse movement fine-tuning mechanism is provided at the upper end of the angle lifting and fine-tuning mechanism. A telescopic fork plate mechanism is provided at the upper end of the transverse movement fine-tuning mechanism. A flat cable guide is provided between the lower part of the cargo platform mechanism and the moving frame mechanism.

[0019] With the above structure, the screen-equipped electric control cabinet integrates a PLC controller and a human-machine interface to control the movement of the equipment, parameter setting, and status monitoring. The ladder provides a safe passage for maintenance personnel and facilitates the maintenance of the top of the equipment; The ground rail and the overhead rail are arranged in parallel on the warehouse floor and the top to form the horizontal movement track of the stacker, ensuring the stable operation of the equipment. The moving frame mechanism is between the ground rail and the overhead rail and horizontally moves along the track through the driving motor, carrying the cargo platform mechanism to achieve horizontal positioning between the shelves. The absolute grating scale high-precision position feedback device monitors the horizontal displacement of the moving frame in real time. The cargo platform mechanism vertically moves up and down along the moving frame mechanism to achieve lifting and positioning between the shelves for rough positioning; The angle lifting and fine-tuning mechanism adjusts the rotation angle and height of the telescopic fork plate mechanism, and the lateral movement fine-tuning mechanism fine-tunes the position of the telescopic fork plate mechanism in the horizontal direction to ensure that the telescopic fork plate mechanism is accurately aligned with the cargo position; The telescopic fork plate mechanism has a two-way telescopic fork to directly grab or place the pallet goods; The telescopic fork plate mechanism has a two-way telescopic fork to directly grab or place the pallet goods.

[0020] The flat cable guide manages the power supply and signal cables during the lifting of the cargo platform mechanism, preventing entanglement and wear and ensuring electrical safety.

[0021] The stacker further includes two ground travel switch bumpers placed on the warehouse floor. The two ground travel switch bumpers are located on both sides of the ground rail, and the two ground travel switch bumpers are respectively located at the left and right ends of the ground rail.

[0022] With the above structure, when the moving frame mechanism horizontally moves along the ground rail and approaches the limit position of the track, the travel switch installed at its bottom will contact the ground travel switch bumper, triggering a signal to send an electrical signal to the screen-equipped electric control cabinet. After receiving the signal, the screen-equipped electric control cabinet immediately cuts off the driving power of the moving frame mechanism and activates the braking device to force the moving frame to stop moving. At the same time, the human-machine interface of the screen-equipped electric control cabinet displays "overtravel alarm" to prompt the operator to handle it.

[0023] The mobile frame mechanism includes a first lifting chain, a second lifting chain, and a mobile lower cross beam drivingly arranged above the ground rail. Ground travel switches are provided at both ends of the side of the mobile lower cross beam. At the upper end of the mobile lower cross beam, a left column and a right column are symmetrically arranged in the left and right positions. A lifting motor is fixed on the right column. Inside the right side of the mobile lower cross beam, two driving double-row sprockets are rotatably arranged. The output shaft of the lifting motor is drivingly connected to the rotating shafts of the two driving double-row sprockets. Inside the left column, a counterweight block group is provided. At both the upper and lower ends of the counterweight block group, a number of guide wheels are fixed. The guide wheels roll and abut against the inside of the left column. The upper ends of the left column and the right column are fixed with a driven upper cross beam. The driven upper cross beam rolls and abuts against the sky rail. A sky rail point brake is provided on the driven upper cross beam. On both the left and right sides inside the driven upper cross beam, sprocket shafts 1 of the same height are rotatably arranged. On each sprocket shaft 1, two driving double-row sprockets 1 are fixed. Inside the right side of the driven upper cross beam, two sprocket shafts 2 are rotatably arranged. On each of the two sprocket shafts 2 on the right side, two driving double-row sprockets 2 are fixed. Inside the left side of the driven upper cross beam, one sprocket shaft 2 is rotatably arranged. On the sprocket shaft 2 on the left side, one driving double-row sprocket 2 is fixed. The sprocket shafts 2 are of the same height and lower than the height of the sprocket shafts 1. One end of the first lifting chain is connected to the upper end of the counterweight block group, and the other end of the first lifting chain is connected to the upper left end of the cargo platform mechanism. The first lifting chain sequentially passes through the front driving double-row sprocket 1 on the left sprocket shaft 1, the front driving double-row sprocket 1 on the right sprocket shaft 1, the front driving double-row sprocket, the front driving double-row sprocket 2 on the two right sprocket shafts 2, and the driving double-row sprocket 2 on the left sprocket shaft 2. One end of the second lifting chain is connected to the upper end of the counterweight block group, and the other end of the second lifting chain is connected to the upper right end of the cargo platform mechanism. The second lifting chain sequentially passes through the rear driving double-row sprocket 1 on the left sprocket shaft 1, the rear driving double-row sprocket 1 on the right sprocket shaft 1, the rear driving double-row sprocket, and the rear driving double-row sprocket 2 on the two right sprocket shafts 2. A number of fork orthogonizers are provided on the side of the mobile lower cross beam.

[0024] With the above structure, the mobile lower cross beam drives and moves above the ground rail. A number of fork orthogonizers absorb the vibration or deviation of the mobile lower cross beam during operation, ensuring the stable operation of the mobile lower cross beam. The mobile lower cross beam, the left column, the right column, and the driven upper cross beam cooperate. The driven upper cross beam moves by rolling on the sky rail. The driven upper cross beam brakes on the sky rail through the sky rail point brake, suppressing the swing of the mobile frame mechanism. When the lifting motor is started, the output shaft of the lifting motor drives the rotating shafts of the two driving double-row sprockets to rotate, thereby driving the two driving double-row sprockets to rotate synchronously. The first lifting chain: starting from the upper end of the counterweight block group → bypassing the front sprocket on the left sprocket shaft of the left column → the front sprocket on the right sprocket shaft of the right column → the front driving double-row sprocket → the front sprockets on the two right sprocket shafts 2 → the sprocket on the left sprocket shaft 2 → finally connecting to the left side of the cargo platform mechanism. Lifting chain 2: Starting from the upper end of the counterweight block group → bypassing the left column sprocket shaft 1 rear sprocket → right column sprocket shaft 1 rear sprocket → rear active double-row sprocket → right two sprocket shafts 2 rear sprockets → finally connected to the right side of the cargo platform mechanism; The cargo platform mechanism rises: the active double-row sprocket drives the lifting chain 1 and the lifting chain 2 in the positive direction, the cargo platform mechanism rises, and the counterweight block group synchronously descends along the left column through the guide wheel to offset the load weight; The cargo platform mechanism descends: the lifting motor reverses, driving the lifting chain 1 and lifting chain 2 to pull in the opposite direction, and the counterweight block group rises to provide reverse pulling force to ensure smooth lifting.

[0025] The cargo platform mechanism includes a base, an upper end of the base is provided with left and right symmetrical side beam frames, and mounting frames are fixed on the left and right sides of the front and rear end surfaces of the base, and a wire mounting tube is fixed on the upper end of the mounting frames, one of the side beam frames is provided with an electric box, and the upper end and outer side of the side beam frame are provided with clamping wheel groups, and the left and right clamping wheel groups respectively roll and abut against the left column and the right column, and a vertically placed brake electric push rod is slidably provided on the side beam frame, and a reset spring is provided between the brake electric push rod and the side beam frame, and a fixed shaft and two front and rear symmetrically arranged inclined brake frames are fixed inside the side beam frame, and brake blocks are slidably provided inside the brake frames, and a swing frame is rotatably provided on the fixed shaft, the telescopic end of the brake electric push rod is hinged to one end of the swing frame, and the other end of the swing frame is hinged to a toggle rod, which is hinged to the brake block, and the other end of the lifting chain one and the other end of the lifting chain two are respectively connected to the upper ends of the left and right brake electric push rods.

[0026] With the above structure, the lifting motor drives the active double-row sprocket to rotate, and the lifting chain one and the lifting chain two pull the cargo platform mechanism to move vertically along the column; the clamping wheel group rolls against the left column and the right column to ensure the accurate movement trajectory of the cargo platform mechanism to prevent deviation; when the cargo platform mechanism needs to stop to reach the target layer or emergency stop, the electrical box sends a signal to the brake electric push rod, the brake electric push rod extends, overcomes the tension of the reset spring, and pushes the swing frame to rotate around the fixed axis, and the swing frame drives the toggle rod to tilt the brake block along the brake frame, pressing the left column and the right column, and braking the cargo platform mechanism by friction; the brake is released and reset, the brake electric push rod retracts, the reset spring pulls the brake block to move in the opposite direction of the brake frame, and separates from the left column and the right column, and the cargo platform mechanism resumes free movement; integrated wiring management: the wire installation tube centrally manages the cables of the electrical box and the push rod to avoid cable entanglement or wear during lifting.

[0027] The angle lifting fine-tuning mechanism includes a fixed base, which is fixed to the upper end of the base, a plurality of lifting hydraulic cylinders are fixed to the upper end of the fixed base, a lifting base plate is fixed to the telescopic end of the lifting hydraulic cylinder, sliding rods are fixed to the four corners of the lower end of the lifting base plate, the sliding rods are slidably arranged on the fixed base, a plurality of rotation sensors are fixed to the upper end of the lifting base plate, a rotating top plate is rotatably provided on the upper end of the lifting base plate, a driven shaft gear is fixed to the rotating shaft of the rotating top plate, a rotating motor is fixed to the lower end of the lifting base plate, the output shaft of the rotating motor passes through the lifting base plate, and a driving gear is fixed to the output shaft of the rotating motor, and the driving gear is meshed with the driven shaft gear.

[0028] With the above structure, vertical height adjustment: several lifting hydraulic cylinders push the lifting base plate, and the slide bar slides vertically on the fixed base, and the slide bar guide ensures the linearity of movement; after reaching the target height, the lifting hydraulic cylinder maintains pressure to fix the position, and the slide bar cooperates with the fixed base to eliminate vibration deviation; horizontal angle fine-tuning: the rotating motor drives the active gear to rotate, and drives the driven shaft teeth through gear meshing, so that the rotating top plate rotates around the axis; the rotation sensor monitors the rotation angle in real time, and the data is fed back to the control system to dynamically correct the motor speed to ensure angle accuracy.

[0029] The transverse fine-tuning mechanism includes a transverse base plate, which is fixed on the upper end of the rotating top plate. The upper end of the transverse base plate is provided with a transverse electric screw and two slide rails. The two slide rails are located on both sides of the transverse electric screw. A transverse top plate is slidably provided on the two slide rails. The transverse top plate is transmission-connected to the transverse electric screw.

[0030] With the above structure, the horizontal position is adjusted as follows: the lateral electric screw receives the control signal to rotate, pushing the lateral top plate to move horizontally left and right along the slide rail; the slide rails on both sides constrain the motion trajectory to prevent deviation or jamming and ensure linearity; the servo motor of the lateral electric screw has a built-in encoder to monitor the screw angle in real time, convert it into displacement, and dynamically correct the position error.

[0031] The telescopic fork plate mechanism includes a telescopic base plate, which is fixed to the upper end of the transverse movement top plate. Fixed guide rails are fixed on both the left and right sides of the upper end of the telescopic base plate. A telescopic position adjustment motor is fixed in the middle of the upper end of the telescopic base plate. A double-output shaft transmission seat is fixed in the middle of the lower end of the telescopic base plate. The output shaft of the telescopic position adjustment motor is in transmission connection with the input shaft of the double-output shaft transmission seat. Position adjustment driving shafts are rotatably arranged on both the left and right sides of the lower end of the telescopic base plate. The position adjustment driving shafts are in transmission connection with the output shafts on the same side of the double-output shaft transmission seat. Position adjustment driving sprockets are fixed on the position adjustment driving shafts. First limit sensors are fixed at the four corners of the upper end of the telescopic base plate. Two first telescopic sprockets arranged in a staggered up-and-down manner are rotatably arranged at the four corners of the upper end of the telescopic base plate. The first telescopic sprockets and the first limit sensors are both located inside the fixed guide rails on the same side. A movable guide rail is slidably arranged on the upper end of the fixed guide rail. Second limit sensors are fixed on both the front and rear sides of the upper end of the movable guide rail. Second telescopic sprockets are rotatably arranged on both the front and rear sides of the upper end of the movable guide rail. Fork plates are slidably arranged on the upper end of the movable guide rail. A first telescopic chain is arranged in transmission between the position adjustment driving sprockets on the same side and the two lower first telescopic sprockets. One section of the first telescopic chain is fixedly connected to the movable guide rail. A second telescopic chain is arranged in transmission between the two upper first telescopic sprockets on the same side and the two second telescopic sprockets. One section of the second telescopic chain is fixedly connected to one section of the first telescopic chain. The fork plate is fixedly connected to one section of the second telescopic chain.

[0032] With the above structure, when the telescopic position adjustment motor is started, it synchronously drives the two side position adjustment driving shafts to rotate through the double-output shaft transmission seat; the position adjustment driving sprockets rotate with the shafts, pulling the first telescopic chain to move; First-level telescoping (the movable guide rail extends): Transmission of the first telescopic chain: The fixed section of the first telescopic chain pushes the movable guide rail to slide outwards along the fixed guide rail; Guide and constraint: The linear bearings of the fixed guide rail ensure the smooth movement of the movable guide rail; Second-level telescoping (the fork plate extends): Linkage of the second telescopic chain: When the first telescopic chain moves, it drives the second telescopic chain to move synchronously through the fixed node. The fixed section of the second telescopic chain pushes the fork plate to extend outwards along the movable guide rail for the second time; Proportional control: The design of the sprocket diameter ratio makes the extension speed of the fork plate twice that of the movable guide rail, realizing rapid coverage of the shelf depth; Limit and braking: Sensor triggering: When the fork plate reaches the maximum extension position, the second limit sensor detects the signal, the motor stops and is electromagnetically braked; Retraction process: The telescopic position adjustment motor rotates in reverse, and the first telescopic chain and the second telescopic chain pull in the reverse direction, and the movable guide rail and the fork plate are retracted step by step, and the first limit sensor confirms complete reset.

[0033] A high-precision motion control method for a stacker based on a fuzzy immune algorithm includes the following steps: Step 1, construct a three-level control architecture, establish a PID control model integrating fuzzy control rules and immune feedback mechanisms, and construct a three-level control architecture including a dynamic adjustment layer of proportional factors, a fuzzy integral and differential parameter layer, and an immune feedback correction layer; Among them: the proportionality factor dynamic adjustment layer adjusts the proportional coefficient Kp in real time based on the load change rate and environmental disturbance; The fuzzy integral and differential parameter layer dynamically optimizes the integral coefficient Ki and the differential coefficient Kd through a fuzzy logic controller; The immune feedback correction layer uses an immune feedback mechanism to perform non-linear compensation on Kp; Step 2, adjust the integral coefficient and the differential coefficient: The fuzzy logic controller is used to collect the stacker displacement deviation E and the deviation change rate EC in real time, and the input variables are fuzzified using a triangular membership function. Based on a preset fuzzy rule base, an integral coefficient adjustment factor ΔKi and a differential coefficient adjustment factor ΔKd are generated. The universes of discourse of the input variables E and EC of the fuzzy rule base are divided into 7 fuzzy subsets, and the adjustment ranges of the output variables ΔKi and ΔKd are [0.5, 1.5]; Step 3, establish a feedback quantity calculation model: Introduce an immune feedback mechanism to perform non-linear optimization on the proportional coefficient Kp, establish a feedback quantity calculation model based on antibody concentration regulation, and calculate the immune feedback factor α in real time according to the system response state; Step 4, construct machine learning parameters: The parameter self-learning module is used to learn the historical operation data, and an LSTM network is used to establish a dynamic mapping model of the control parameters, and the initial optimized values of the PID parameters are output; Step 5, optimize the parameter input system: Input the optimized PID parameters into the servo drive system to control the stacker actuator to operate under the technical indicators of a horizontal positioning accuracy of ≤ ±5 mm, a vertical positioning accuracy of ≤ ±5 mm, a horizontal speed of 180 m / min, and a vertical speed of 45 m / min.

[0034] The calculation formula for the immune feedback factor α in Step 3 is: , where K is the immune gain coefficient, η is the inhibition coefficient, β is the adjustment factor, and e(t) is the real-time tracking error; The adjustment factor β of the immune feedback factor α is adaptively adjusted according to the system dynamic response state, and the adjustment formula is: , where β0 is the initial value and γ is the adaptive gain coefficient.

[0035] The LSTM network in Step 4 includes three hidden layers. The input features of the LSTM network include speed deviation, load change rate, and environmental temperature parameters. The output layer of the LSTM network uses a Sigmoid activation function to perform normalization processing on the PID parameters, and the normalization range is: .

[0036] In the proportional factor dynamic adjustment layer of the three - level control architecture, the basic proportional coefficient is automatically corrected according to the load change rate; in the fuzzy integral - derivative parameter layer, Mamdani inference method is used for fuzzy decision - making; in the immune feedback correction layer, the adaptive adjustment of the control gain is realized through a non - linear function.

[0037] Compared with the prior art, the high - precision motion control method and system of the stacker based on the fuzzy immune algorithm have the following advantages: Based on the fuzzy immune algorithm, this system realizes high - precision, strong self - adaptability and high reliability in the motion control of the stacker. Through multi - axis coordinated control, double - closed - loop feedback and parameter self - learning, the system can dynamically optimize the PID parameters, suppress disturbances such as sudden load changes and mechanical wear, significantly reduce overshoot and improve the response speed. At the same time, the safety protection and path planning module ensure safe operation, and the environment management module supports predictive maintenance, greatly reducing the failure rate, and is suitable for harsh scenarios such as high - density warehousing and cold - chain logistics.

[0038] This stacker adopts a modular design, integrating high - precision transmission, redundant safety mechanisms and intelligent control systems, combining high efficiency and stability. Its unique angle / transverse fine - tuning mechanism can automatically compensate for shelf errors, adapt to various pallet specifications, and its low - noise and energy - saving design makes it an ideal choice for modern automated warehouses.

[0039] This method innovatively combines fuzzy logic and immune algorithm, endowing the stacker with intelligent decision - making ability. The fuzzy rule base quantifies the motion error, and the immune algorithm dynamically generates "antibody" parameters to achieve precise anti - interference control. Compared with the traditional PID, its self - learning ability can adapt to different working conditions without manual parameter adjustment, and optimizes the efficiency through historical data memory, especially suitable for long - term - running automated warehousing systems. Brief Description of the Drawings

[0040] Figure 1 is the block diagram of the control system in the present invention.

[0041] Figure 2 is the three - dimensional structure schematic diagram of the stacker in the present invention.

[0042] Figure 3 is the front three - dimensional structure schematic diagram of some components of the stacker in the present invention.

[0043] Figure 4 is the rear three - dimensional structure schematic diagram of some components of the stacker in the present invention.

[0044] Figure 5 is the present invention Figure 4 the enlarged structure schematic diagram at position A in.

[0045] Figure 6 is the lifting chain drive schematic diagram in the present invention.

[0046] Figure 7 It is a structural schematic diagram of the cargo platform mechanism in the present invention.

[0047] Figure 8 It is a schematic diagram of the angle lifting fine-adjustment mechanism, the lateral movement fine-adjustment mechanism and the telescopic fork plate mechanism in the present invention.

[0048] Figure 9 It is a structural schematic diagram of the angle lifting and fine-tuning mechanism in the present invention.

[0049] Figure 10 It is a structural schematic diagram of the transverse shift fine adjustment mechanism in the present invention.

[0050] Figure 11 It is a structural schematic diagram of the telescopic fork plate mechanism in the present invention.

[0051] Figure 12 It is a flowchart of the control method in the present invention.

[0052] In the figure, 1, ground rail; 2, mobile frame mechanism; 3, cargo platform mechanism; 4, angle lifting fine adjustment mechanism; 5, lateral movement fine adjustment mechanism; 6, telescopic fork plate mechanism; 7, ceiling rail; 8, electric control box with screen; 9, ladder; 10, absolute grating ruler; 11, flat cable guide; 12, driven upper beam; 13, left column; 14, mobile lower beam; 15, right column; 16, fork orthogonal device; 17, counterweight block group; 18, ground travel switch contact block; 19, base; 20, mounting frame; 21, wire mounting tube; 22, side beam frame; 23, electric box; 24, clamping wheel group; 25, fixed shaft; 26, toggle rod; 27, swing frame; 28, brake block; 29, brake frame; 30, reset spring; 31, fixed base; 32, slide rod; 33, lifting hydraulic cylinder; 34, lifting base Plate; 35, rotation sensor; 36, rotating top plate; 37, driven shaft teeth; 38, driving gear; 39, rotating motor; 40, transverse base plate; 41, transverse electric screw rod; 42, slide rail; 43, transverse top plate; 44, fixed guide rail; 45, adjustment driving shaft; 46, double output shaft transmission seat; 47, telescopic adjustment motor; 48, telescopic base plate; 49, first limit sensor; 50, second limit sensor; 51, movable guide rail; 52, fork plate; 53, second telescopic sprocket; 54, first telescopic sprocket; 55, guide wheel; 56, lifting chain one; 57, lifting chain two; 58, sprocket shaft one; 59, sprocket shaft two; 60, transmission double-row sprocket two; 61, transmission double-row sprocket one; 62, lifting motor; 63, active double-row sprocket; 64, brake electric push rod. DETAILED DESCRIPTION

[0053] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0054] As shown Figures 1 - 11 in the figure, the high-precision motion control system of the stacker based on the fuzzy immune algorithm includes a multi-axis motion control module, a double closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, and an environment and maintenance management module.

[0055] The working principle of the present invention: The multi-axis motion control module coordinates the synchronous motion of the horizontal movement, vertical lifting, and fork telescoping of the stacker to achieve three-axis linkage control; the double closed-loop feedback module uses a position loop + speed loop closed-loop control, combines the data of the encoder and the grating ruler, and corrects the motion deviation in real time; the parameter self-learning module is based on the fuzzy immune algorithm, dynamically learns parameters such as load changes and mechanical wear, and optimizes the PID control parameters; the safety protection and diagnosis module monitors abnormalities such as vibration, temperature, and current, triggers an emergency stop or a speed reduction, and records the fault code to assist maintenance; the positioning detection module fuses the data of multiple sensors such as an absolute grating ruler and a laser rangefinder to achieve a positioning accuracy of ±0.1 mm; the path planning module dynamically plans the optimal path according to the warehousing task (such as the shortest time and the lowest energy consumption), and avoids deadlocks and collisions; the environment and maintenance management module monitors the temperature and humidity, the dust concentration, predicts the service life of key components (such as chains and brake pads), and generates a maintenance plan.

[0056] The multi-axis motion control module integrates a fuzzy immune algorithm processing unit and is connected to the servo driver through the EtherCAT bus; the multi-axis motion control module supports: the horizontal speed control range is 0-180 m / min, and the acceleration ≤ 0.3 m / s²; the vertical speed control range is 0-45 m / min, and the acceleration and deceleration are smoothly transitioned by the S curve; the multi-target point path planning function supports online interpolation operation.

[0057] The double closed-loop feedback module includes: the horizontal positioning uses an absolute grating ruler, the resolution ≤ 0.01 mm, and the allowable axial floating amount is ±1 mm; the vertical positioning uses a magnetostrictive sensor, and the repeat positioning accuracy ≤ ±0.5 mm; the speed loop uses a 24-bit high-precision encoder, and the speed detection error ≤ ±0.1%.

[0058] The parameter self-learning module is configured with a machine learning processor accelerated by FPGA and stores a historical operation data database; data acquisition: stores historical operation data (including speed, load, temperature, control parameters), and the sampling interval ≤ 10 ms; LSTM network structure: input layer (8-dimensional features) → three hidden layers (128 nodes per layer) → output layer (3-dimensional PID parameters); online learning: uses an incremental learning algorithm, and the model update period ≤ 1 hour.

[0059] The safety protection and diagnosis module monitors the current and temperature parameters of the walking motor in real time, and starts the dynamic load reduction program when the power exceeds 22KW; safety monitoring and diagnosis, fault tree analysis (FTA): 20 types of fault modes are preset (such as overcurrent, over-temperature, vibration exceeding the standard), triggering hierarchical protection: first-level alarm: reduce the running speed; second-level alarm: emergency stop and lock the mechanism; self-diagnosis function: automatically perform servo motor winding insulation detection (withstand voltage ≥ 500V) when starting daily; real-time monitor the packet loss rate of the EtherCAT network communication (threshold ≤ 0.1%).

[0060] The safety protection module also includes a vibration suppression unit and a broken rope protection unit. The vibration suppression unit detects abnormal vibrations through a three-axis acceleration sensor and automatically adjusts control parameters; the broken rope protection unit triggers an emergency brake when the wire rope tension drops by more than 20% of the rated value.

[0061] For horizontal positioning of the positioning detection module, an absolute grating scale (resolution 0.5μm, maximum measurement speed 180m / min) is laid along the entire length of the ground guide rail, and the reading head is installed at the bottom of the walking mechanism. For vertical positioning: a magnetostrictive sensor (repetitive accuracy ±0.2mm, response time ≤ 1ms) is embedded inside the column, and the detection rod is rigidly connected to the cargo platform mechanism.

[0062] The path planning module includes a dynamic path planning optimization algorithm unit, a vibration suppression unit, and a digital twin unit. The dynamic path planning optimization algorithm unit selects the shortest and smoothest path while avoiding obstacles, reducing unnecessary starts, stops, and turns; the vibration suppression unit eliminates sensor noise through software filtering (such as Kalman filtering), or adds an S-shaped acceleration and deceleration curve planning during the acceleration stage to suppress mechanical vibrations; the digital twin unit establishes a digital twin model of the stacker, simulates the operating state, predicts potential errors, and optimizes parameters in advance.

[0063] The environment and maintenance management module includes an environment detection and control unit, a preventive maintenance unit, and an operation specification training unit. The environment detection and control unit monitors the temperature and humidity in real time, keeps the warehouse at a constant temperature and humidity, and avoids material deformation caused by temperature fluctuations; regularly cleans the dust and debris on the guide rail and transmission components; the preventive maintenance unit reminds to regularly check and lubricate key components such as the guide rail, gear, and bearing; uses a vibration analyzer to monitor abnormal vibrations of the motor and transmission system; predicts the component life through historical data and replaces vulnerable parts (such as belts, bearings) in advance; the operation specification training unit plays a video of standard operations to avoid overloading or offloading, ensure the stability of the cargo center of gravity, and reduce the impact on the forklift and column.

[0064] The control system supports dual-protocol communication interfaces of CANopen and Profinet; has an online parameter tuning function, providing an expert debugging mode; visual monitoring of the operating state, and real-time display of the positioning error curve and energy consumption data.

[0065] This system is based on a fuzzy immune algorithm and achieves high-precision (±0.1 mm), strong self-adaptability, and high reliability in the motion control of the stacker crane. Through multi-axis collaborative control, double closed-loop feedback, and parameter self-learning, the system can dynamically optimize PID parameters, suppress disturbances such as sudden load changes and mechanical wear, significantly reduce overshoot (by 50%) and improve the response speed (by 30%). At the same time, the safety protection and path planning module ensure safe operation, and the environmental management module supports predictive maintenance, greatly reducing the failure rate, and is suitable for harsh scenarios such as high-density warehousing and cold chain logistics.

[0066] It also includes a stacker crane, which includes a ground rail 1 and an absolute grating scale 10 that are placed on the warehouse floor and arranged in parallel, and a sky rail 7 that is placed on the top of the warehouse. There is a moving frame mechanism 2 between the ground rail 1 and the sky rail 7. On the left side of the moving frame mechanism 2, there is a screen-equipped electric control box 8 and a ladder 9. A load-carrying platform mechanism 3 is driven and installed on the moving frame mechanism 2. An angle lifting and fine-tuning mechanism 4 is installed at the upper end of the load-carrying platform mechanism 3. A transverse movement fine-tuning mechanism 5 is installed at the upper end of the angle lifting and fine-tuning mechanism 4. A telescopic fork plate mechanism 6 is installed at the upper end of the transverse movement fine-tuning mechanism 5. A flat cable guide 11 is provided between the lower part of the load-carrying platform mechanism 3 and the moving frame mechanism 2.

[0067] The screen-equipped electric control box 8 integrates a PLC controller and a human-machine interface, controls the movement of the equipment, parameter setting, and status monitoring. The ladder 9 provides a safe passage for maintenance personnel and facilitates the maintenance of the top of the equipment; The ground rail 1 and the sky rail 7 are arranged in parallel on the warehouse floor and the top, forming the horizontal movement track of the stacker crane, ensuring the stable operation of the equipment. The moving frame mechanism 2 is between the ground rail 1 and the sky rail 7 and moves horizontally along the track through a driving motor, carrying the load-carrying platform mechanism 3 to achieve horizontal positioning between the shelves. The absolute grating scale 10 is a high-precision position feedback device that real-time monitors the horizontal displacement of the moving frame. The load-carrying platform mechanism 3 vertically ascends and descends along the moving frame mechanism 2 to achieve lifting and positioning between the shelves for rough positioning; The angle lifting and fine-tuning mechanism 4 adjusts the rotation angle and height of the telescopic fork plate mechanism 6, and the transverse movement fine-tuning mechanism 5 finely adjusts the position of the telescopic fork plate mechanism 6 in the horizontal direction to ensure that the telescopic fork plate mechanism 6 accurately aligns with the cargo position; The telescopic fork plate mechanism 6 has a two-way telescopic fork to directly grab or place pallet goods.

[0068] The flat cable guide 11 manages the power supply and signal cables during the lifting of the load-carrying platform mechanism 3, prevents winding and wear, and ensures electrical safety.

[0069] The stacker crane also includes two ground travel switch bumpers 18 placed on the warehouse floor. The two ground travel switch bumpers 18 are located on both sides of the ground rail 1, and the two ground travel switch bumpers 18 are respectively located at the left and right ends of the ground rail 1.

[0070] When the mobile frame mechanism 2 moves horizontally along the ground rail 1 and approaches the rail limit position (left end or right end), the travel switch installed at its bottom will contact the ground travel switch block 18, and the signal triggers the sending of an electrical signal to the electric control box with screen 8. After receiving the signal, the electric control box with screen 8 immediately cuts off the driving power of the mobile frame mechanism 2 and starts the braking device to force the mobile frame to stop moving. At the same time, the human-machine interface of the electric control box with screen 8 displays "overtravel alarm" to prompt the operator to handle it.

[0071] The mobile frame mechanism 2 includes a lifting chain 1 56 and a lifting chain 2 57 and a mobile lower crossbeam 14 which is arranged above the ground rail 1. The two ends of the side of the mobile lower crossbeam 14 are provided with ground travel switches. The upper end of the mobile lower crossbeam 14 is provided with a left column 13 and a right column 15 which are symmetrically arranged at the left and right positions. A lifting motor 62 is fixed on the right column 15. Two active double-row sprockets 63 are arranged inside the mobile lower crossbeam 14 for rotation on the right side. The output shaft of the lifting motor 62 is connected to the rotating shaft of the two active double-row sprockets 63. A counterweight block group 17 is arranged inside the left column 13. The upper and lower counterweight blocks 17 are arranged on the upper and lower parts of the counterweight block group 17. A plurality of guide wheels 55 are fixed at both ends, and the guide wheels 55 roll and abut against the inside of the left column 13. A driven upper crossbeam 12 is fixed at the upper ends of the left column 13 and the right column 15. The driven upper crossbeam 12 rolls and abuts against the ceiling rail 7. The driven upper crossbeam 12 is provided with a ceiling rail brake. The left and right sides of the driven upper crossbeam 12 are rotatably provided with a sprocket shaft 1 58 of equal height, and two transmission double-row sprockets 1 61 are fixed on the sprocket shaft 1 58. Two sprocket shafts 2 59 are rotatably provided on the right side of the driven upper crossbeam 12, and two transmission double-row sprockets 2 60 are fixed on the two sprocket shafts 2 59 on the right side. A sprocket shaft 2 59 is provided for rotation on the left side of the movable upper cross beam 12, and a transmission double-row sprocket 2 60 is fixed on the left sprocket shaft 2 59, and the height of the sprocket shaft 2 59 is equal to and lower than the height of the sprocket shaft 1 58. One end of the lifting chain 1 56 is connected to the upper end of the counterweight block group 17, and the other end of the lifting chain 1 56 is connected to the upper left end of the cargo platform mechanism 3. The lifting chain 1 56 is connected in sequence to the transmission double-row sprocket 1 61 on the front side of the left sprocket shaft 1 58, the transmission double-row sprocket 1 61 on the front side of the right sprocket shaft 1 58, the active double-row sprocket 63 on the front side, and the two sprocket shafts 2 on the right. The transmission double-row sprocket 2 60 on the front side of 59 and the transmission double-row sprocket 2 60 on the sprocket shaft 2 59 on the left side, one end of the lifting chain 2 57 is connected to the upper end of the counterweight block group 17, and the other end of the lifting chain 2 57 is connected to the upper right end of the cargo platform mechanism 3, and the lifting chain 2 57 is connected in sequence to the transmission double-row sprocket 1 61 on the rear side of the left sprocket shaft 1 58, the transmission double-row sprocket 1 61 on the rear side of the right sprocket shaft 1 58, the rear active double-row sprocket 63, the transmission double-row sprocket 2 60 on the rear side of the two sprocket shafts 2 59 on the right side, and a plurality of shift fork orthogonals 16 are provided on the side of the movable lower crossbeam 14.

[0072] The movable lower cross beam 14 is driven and moved above the ground rail 1, and a plurality of shift fork orthogonal devices 16 absorb the vibration or deviation of the movable lower cross beam 14 during operation to ensure the stable operation of the movable lower cross beam 14. The movable lower cross beam 14, the left column 13, the right column 15 and the driven upper cross beam 12 cooperate with each other, and the driven upper cross beam 12 moves by rolling on the overhead rail 7. The driven upper cross beam 12 brakes on the overhead rail 7 through the overhead rail brake piece to suppress the swing of the movable frame mechanism 2; the lifting motor 62 is started, and the output shaft of the lifting motor 62 drives the rotating shafts of the two active double-row sprockets 63 to rotate, thereby driving the two active double-row sprockets 63 to rotate synchronously; the lifting chain 56: starting from the upper end of the counterweight block group 17 → bypassing the front sprocket of the left column sprocket shaft 58 → the front sprocket of the right column sprocket shaft 58 → the front active double-row sprocket 63 → the right The front sprockets of the two sprocket shafts 2 59 → the sprockets of the left sprocket shaft 2 59 → finally connected to the left side of the cargo platform mechanism 3; lifting chain 2 57: starting from the upper end of the counterweight block group 17 → bypassing the rear sprocket of the left column sprocket shaft 1 58 → the rear sprocket of the right column sprocket shaft 1 58 → the rear active double-row sprocket 63 on the rear side → the rear sprockets of the two sprocket shafts 2 59 on the right side → finally connected to the right side of the cargo platform mechanism 3; the cargo platform mechanism 3 rises: the active double-row sprocket drives the forward traction of the lifting chain 1 56 and the lifting chain 2 57, the cargo platform mechanism 3 rises, and the counterweight block group 17 synchronously descends along the left column 13 through the guide wheel 55 to offset the load weight; the cargo platform mechanism 3 descends: the lifting motor 62 reverses, drives the reverse traction of the lifting chain 1 56 and the lifting chain 2 57, and the counterweight block group 17 rises to provide reverse pulling force to ensure smooth lifting.

[0073] The cargo platform mechanism 3 includes a base 19, and a left-right symmetrical side beam frame 22 is provided at the upper end of the base 19. A mounting frame 20 is fixed on the left and right sides of the front and rear end surfaces of the base 19, and a wire mounting tube 21 is fixed on the upper end of the mounting frame 20. An electric box 23 is provided on one of the side beam frames 22, and a clamping wheel group 24 is provided on the upper end and the outer side of the side beam frame 22. The left and right clamping wheel groups 24 roll against the left column 13 and the right column 15 respectively. A vertically placed brake electric push rod 64 is slidably provided on the side beam frame 22, and the brake electric push rod 64 is connected to the side beam frame 22. A return spring 30 is provided between the two sides, a fixed shaft 25 and two brake frames 29 which are symmetrically arranged and inclined in the front and rear directions are fixed inside the side beam frame 22, brake blocks 28 are slidably provided inside the brake frames 29, a swing frame 27 is rotatably provided on the fixed shaft 25, the telescopic end of the brake electric push rod 64 is hinged to one end of the swing frame 27, and the other end of the swing frame 27 is hinged to a toggle rod 26, which is hinged to the brake block 28, and the other end of the lifting chain 1 56 and the other end of the lifting chain 2 57 are respectively connected to the upper ends of the left and right brake electric push rods 64.

[0074] The lifting motor 62 drives the active double-row sprocket 63 to rotate, and the lifting chain 1 56 and the lifting chain 2 57 pull the cargo platform mechanism 3 to move vertically along the column; the clamping wheel group 24 rolls against the left column 13 and the right column 15 to ensure the accurate movement trajectory of the cargo platform mechanism 3 and prevent deflection; when the cargo platform mechanism 3 needs to stop to reach the target layer or emergency stop, the electric box 23 sends a signal to the brake electric push rod 64, and the brake electric push rod 64 extends to overcome the pulling force of the reset spring 30, and pushes the swing frame 27 to rotate around the fixed axis 25, and the swing frame 27 drives the toggle rod 26 to tilt the brake block 28 along the brake frame 29, pressing the left column 13 and the right column 15, and braking the cargo platform mechanism 3 by friction; the brake is released and reset, the brake electric push rod 64 retracts, and the reset spring 30 pulls the brake block 28 to move in the opposite direction along the brake frame 29, disengaging from the left column 13 and the right column 15, and the cargo platform mechanism 3 resumes free movement; integrated wiring management: the wire installation tube 21 centrally manages the cables of the electrical box 23 and the push rod to avoid cable entanglement or wear during lifting.

[0075] The angle lifting fine-tuning mechanism 4 includes a fixed base 31, which is fixed to the upper end of the base 19. A plurality of lifting hydraulic cylinders 33 are fixed to the upper end of the fixed base 31. A lifting base plate 34 is fixed to the telescopic end of the lifting hydraulic cylinder 33. Slide rods 32 are fixed to the four corners of the lower end of the lifting base plate 34. The slide rods 32 are slidably set on the fixed base 31. A plurality of rotation sensors 35 are fixed to the upper end of the lifting base plate 34. A rotating top plate 36 is rotatably provided at the upper end of the lifting base plate 34. A driven shaft gear 37 is fixed to the rotating shaft of the rotating top plate 36. A rotating motor 39 is fixed to the lower end of the lifting base plate 34. The output shaft of the rotating motor 39 passes through the lifting base plate 34 and a driving gear 38 is fixed to the output shaft of the rotating motor 39. The driving gear 38 is meshed with the driven shaft gear 37.

[0076] Vertical height adjustment: Several lifting hydraulic cylinders 33 push the lifting base plate 34, and the slide bar 32 slides vertically on the fixed base 31. The slide bar 32 guides to ensure the linearity of the movement; after reaching the target height, the lifting hydraulic cylinder 33 maintains the pressure to fix the position, and the slide bar 32 cooperates with the fixed base 31 to eliminate vibration deviation; horizontal angle fine-tuning: The rotating motor 39 drives the driving gear 38 to rotate, and drives the driven shaft gear 37 through gear meshing to make the rotating top plate 36 rotate around the axis; the rotation sensor 35 monitors the rotation angle in real time, and the data is fed back to the control system to dynamically correct the motor speed to ensure the angle accuracy.

[0077] The transverse fine-tuning mechanism 5 includes a transverse substrate 40, which is fixed on the upper end of the rotating top plate 36. A transverse electric screw 41 and two slide rails 42 are provided on the upper end of the transverse substrate 40. The two slide rails 42 are located on both sides of the transverse electric screw 41. A transverse top plate 43 is slidably provided on the two slide rails 42. The transverse top plate 43 is transmission-connected to the transverse electric screw 41.

[0078] Horizontal position adjustment: The horizontal movement electric lead screw 41 receives a control signal and rotates to push the horizontal movement top plate 43 to move horizontally left and right along the slide rail 42. The two slide rails 42 restrict the movement track to prevent deviation or jamming and ensure linearity (deviation < ±0.1 mm). The servo motor of the horizontal movement electric lead screw 41 is internally equipped with an encoder to monitor the rotation angle of the lead screw in real time, convert it into a displacement amount, and dynamically correct the position error.

[0079] The telescopic fork plate mechanism 6 includes a telescopic base plate 48. The telescopic base plate 48 is fixed to the upper end of the horizontal movement top plate 43. Fixed guide rails 44 are fixed on both the left and right sides of the upper end of the telescopic base plate 48. A telescopic position adjustment motor 47 is fixed in the middle of the upper end of the telescopic base plate 48. A double-output shaft transmission seat 46 is fixed in the middle of the lower end of the telescopic base plate 48. The output shaft of the telescopic position adjustment motor 47 is in transmission connection with the input shaft of the double-output shaft transmission seat 46. Position adjustment driving shafts 45 are rotatably arranged on both the left and right sides of the lower end of the telescopic base plate 48. The position adjustment driving shafts 45 are in transmission connection with the output shafts on the same side of the double-output shaft transmission seat 46. Position adjustment driving sprockets are fixed on the position adjustment driving shafts 45. First limit sensors 49 are fixed at the four corners of the upper end of the telescopic base plate 48. Two first telescopic sprockets 54 arranged vertically and staggeredly are rotatably arranged at the four corners of the upper end of the telescopic base plate 48. The first telescopic sprockets 54 and the first limit sensors 49 are both located inside the fixed guide rails 44 on the same side. A movable guide rail 51 is slidably arranged on the upper end of the fixed guide rail 44. Second limit sensors 50 are fixed on both the front and rear sides of the upper end of the movable guide rail 51. Second telescopic sprockets 53 are rotatably arranged on both the front and rear sides of the upper end of the movable guide rail 51. Fork plates 52 are slidably arranged on the upper end of the movable guide rail 51. A first telescopic chain is arranged in transmission between the position adjustment driving sprockets on the same side and the two lower first telescopic sprockets 54. One link of the first telescopic chain is fixedly connected to the movable guide rail 51. A second telescopic chain is arranged in transmission between the two upper first telescopic sprockets 54 on the same side and the two second telescopic sprockets 53. One link of the second telescopic chain is fixedly connected to one link of the first telescopic chain. The fork plate 52 is fixedly connected to one link of the second telescopic chain.

[0080] The telescopic positioning motor 47 starts, and drives the two sides of the positioning driving shafts 45 to rotate synchronously through the double-output shaft transmission seat 46; the positioning driving sprockets rotate with the shafts, pulling the first telescopic chain to move; First-level telescoping (the movable guide rail 51 extends out): Transmission of the first telescopic chain: The fixed link of the first telescopic chain pushes the movable guide rail 51 to slide outwards along the fixed guide rail 44; Guiding and restraint: The linear bearing of the fixed guide rail 44 ensures the smooth movement of the movable guide rail 51 (coefficient of friction < 0.005); Second-level telescoping (the fork plate 52 extends out): Linkage of the second telescopic chain: When the first telescopic chain moves, it drives the second telescopic chain to move synchronously through the fixed chain node, and the fixed link of the second telescopic chain pushes the fork plate 52 to extend out a second time along the movable guide rail 51; Proportional control: The design of the sprocket diameter ratio enables the extension speed of the fork plate 52 to be twice that of the movable guide rail 51, achieving rapid coverage of the shelf depth; Limiting and braking: Sensor triggering: When the fork plate 52 reaches the maximum extension position, the second limit sensor 50 detects the signal, the motor stops and electromagnetic braking is applied; Retracting process: The telescopic positioning motor 47 rotates in reverse, the first telescopic chain and the second telescopic chain pull in the reverse direction, and the movable guide rail 51 and the fork plate 52 are retracted step by step, and the first limit sensor 49 confirms full reset.

[0081] The working principle of the present invention: The screen-equipped electric control box 8 integrates a PLC controller and a human-machine interface, controls the movement of the equipment, parameter setting and status monitoring, and the ladder 9 provides a safe passage for maintenance personnel, facilitating maintenance at the top of the equipment; The ground rail 1 and the sky rail 7 are arranged in parallel on the warehouse floor and the top, forming the horizontal movement track of the stacker, ensuring the stable operation of the equipment. The moving lower crossbeam 14 moves horizontally on the ground rail 1, and several fork orthogonalizers 16 absorb the vibration or deviation of the moving lower crossbeam 14 during operation, ensuring the stable operation of the moving lower crossbeam 14. The driven upper crossbeam 12 moves by rolling on the sky rail 7, and the driven upper crossbeam 12 brakes on the sky rail 7 through the sky rail point brake, suppressing the swing of the moving frame mechanism 2 and carrying the load platform mechanism 3 to achieve horizontal positioning between the shelves; The absolute grating scale 10 is a high-precision position feedback device, which real-time monitors the horizontal displacement of the moving frame. The load platform mechanism 3 rises: The active double-row sprocket 63 drives the forward traction of the first lifting chain 56 and the second lifting chain 57, the load platform mechanism 3 rises, and the counterweight block group 17 descends synchronously along the left column 13 through the guide wheel 55, offsetting the load weight; The load platform mechanism 3 descends: The lifting motor 62 rotates in reverse, driving the reverse traction of the first lifting chain 56 and the second lifting chain 57, and the counterweight block group 17 rises to provide a reverse pulling force, ensuring smooth lifting, achieving lifting positioning between the shelves, and performing rough positioning; The clamping wheel group 24 rolls while fitting the left column 13 and the right column 15, ensuring the accurate movement track of the load platform mechanism 3 and preventing skew; Vertical height adjustment: A number of lifting hydraulic cylinders 33 push the lifting base plate 34, and the sliding rod 32 slides vertically on the fixed base 31. The sliding rod 32 is guided to ensure the linearity of the movement. After reaching the target height, the lifting hydraulic cylinder 33 maintains pressure to fix the position, and the sliding rod 32 cooperates with the fixed base 31 to eliminate vibration deviation. Horizontal angle fine adjustment: The rotating motor 39 drives the driving gear 38 to rotate, drives the driven shaft gear 37 through gear meshing, and makes the rotating top plate 36 rotate around the axis. The rotation position sensor 35 monitors the rotation angle in real time, and the data is fed back to the control system to dynamically correct the motor speed to ensure the angle accuracy and ensure that the telescopic fork plate mechanism 6 is accurately aligned with the cargo position. Horizontal position adjustment: The transverse electric lead screw 41 receives the control signal and rotates, pushing the transverse top plate 43 to move horizontally left and right along the slide rail 42. The slide rails 42 on both sides restrict the movement trajectory to prevent deviation or jamming and ensure linearity (deviation < ±0.1 mm). The servo motor of the transverse electric lead screw 41 is built-in with an encoder to monitor the rotation angle of the lead screw in real time, convert it into a displacement amount, and dynamically correct the position error for precise positioning. The telescopic fork plate mechanism 6 has a two-way telescopic fork to directly grab or place pallet goods: That is, the telescopic position adjustment motor 47 is started, and the two output shaft transmission seats 46 drive the two side position adjustment driving shafts 45 to rotate synchronously. The position adjustment driving sprocket rotates with the shaft and pulls the telescopic chain one to move. First-level telescoping (the movable guide rail 51 extends out): Telescopic chain one transmission: The fixed link of the telescopic chain one pushes the movable guide rail 51 to slide outward along the fixed guide rail 44. Guide constraint: The linear bearing of the fixed guide rail 44 ensures the smooth movement of the movable guide rail (coefficient of friction < 0.005). Second-level telescoping (the fork plate 52 extends out): Telescopic chain two linkage: When the telescopic chain one moves, it drives the telescopic chain two to move synchronously through the fixed chain node. The fixed link of the telescopic chain two pushes the fork plate 52 to extend out secondarily along the movable guide rail 51. Proportional control: The design of the sprocket diameter ratio makes the extension speed of the fork plate 52 twice that of the movable guide rail 51, realizing rapid coverage of the shelf depth. Limit and braking: Sensor trigger: When the fork plate 52 reaches the maximum extension position, the second limit sensor 50 detects the signal, the motor stops and electromagnetic braking is applied. Retraction process: The telescopic position adjustment motor 47 rotates in reverse, the telescopic chain one and the telescopic chain two pull in the reverse direction, and the movable guide rail 51 and the fork plate 52 are retracted step by step, and the first limit sensor 49 confirms full reset.

[0082] The flat cable guide 11 manages the power supply and signal cables during the lifting of the cargo platform mechanism 3, prevents winding and wear, and ensures electrical safety.

[0083] This stacker adopts a modular design, integrating high-precision transmission (three-stage telescopic fork plate), redundant safety mechanism (double chains + hard limit), and intelligent control system, with both high efficiency (access cycle ≤ 60 seconds) and stability (MTBF > 10,000 hours). Its unique angle / transverse fine-tuning mechanism can automatically compensate for shelf errors and adapt to various pallet specifications, while its low noise (< 65 dB) and energy-saving design (counterweight balance reduces energy consumption by 30%) make it an ideal choice for modern automated warehouses.

[0084] As Figure 12 shown, this high-precision motion control method for a stacker based on a fuzzy immune algorithm includes the following steps: Step 1, construct a three-level control architecture, establish a PID control model integrating fuzzy control rules and immune feedback mechanism, and construct a three-level control architecture including a proportionality factor dynamic adjustment layer, a fuzzy integral and differential parameter layer, and an immune feedback correction layer; among them, the proportionality factor dynamic adjustment layer adjusts the proportional coefficient Kp in real time based on the load change rate and environmental disturbance; the fuzzy integral and differential parameter layer dynamically optimizes the integral coefficient Ki and the differential coefficient Kd through a fuzzy logic controller; the immune feedback correction layer uses an immune feedback mechanism to perform non-linear compensation on Kp. Step 2, adjust the integral coefficient and the differential coefficient: Use a fuzzy logic controller to collect the displacement deviation E and the deviation change rate EC of the stacker in real time, perform fuzzy processing on the input variables using a triangular membership function, and generate an integral coefficient adjustment factor ΔKi and a differential coefficient adjustment factor ΔKd based on a preset fuzzy rule base, where the universes of discourse of the input variables E and EC of the fuzzy rule base are divided into 7 fuzzy subsets, and the adjustment ranges of the output variables ΔKi and ΔKd are [0.5, 1.5]. Step 3, establish a feedback quantity calculation model: Introduce an immune feedback mechanism to perform non-linear optimization on the proportional coefficient Kp, establish a feedback quantity calculation model based on antibody concentration regulation, and calculate the immune feedback factor α in real time according to the system response state. Step 4, construct machine learning parameters: Use a parameter self-learning module to learn historical operation data, establish a dynamic mapping model of control parameters using an LSTM network, and output the initial optimized values of PID parameters. Step 5, optimize the parameter input system: Input the optimized PID parameters into the servo drive system to control the stacker actuator to operate under the technical indicators of a horizontal positioning accuracy ≤ ±5 mm, a vertical positioning accuracy ≤ ±5 mm, a horizontal speed of 180 m / min, and a vertical speed of 45 m / min.

[0085] The calculation formula for the immune feedback factor α in Step 3 is: , where K is the immune gain coefficient, η is the inhibition coefficient, β is the adjustment factor, and e(t) is the real-time tracking error; The regulator β of the immune feedback factor α is adaptively adjusted according to the system dynamic response state, and the adjustment formula is: , where β0 is the initial value and γ is the adaptive gain coefficient.

[0086] In step four, the LSTM network contains three hidden layers. The input features of the LSTM network include speed deviation, load change rate, and environmental temperature parameters. The output layer of the LSTM network uses the Sigmoid activation function to normalize the PID parameters, and the normalization range is: .

[0087] The proportional factor dynamic adjustment layer in the three-level control architecture automatically corrects the basic proportional coefficient according to the load change rate; the fuzzy integral and differential parameter layer uses the Mamdani inference method for fuzzy decision-making; the immune feedback correction layer realizes the adaptive adjustment of the control gain through a non-linear function.

[0088] This method innovatively combines fuzzy logic with the immune algorithm to endow the stacker with intelligent decision-making capabilities. The fuzzy rule base quantifies motion errors (such as position deviation, vibration), and the immune algorithm dynamically generates "antibody" parameters (such as KP, KI) to achieve precise anti-interference control. Compared with the traditional PID, its self-learning ability can adapt to different working conditions (light load / heavy load / offload), without manual parameter adjustment, and optimizes the efficiency through historical data memory, which is especially suitable for long-term operating automated warehousing systems.

[0089] The specific embodiments described in this article are only examples to illustrate the spirit of the present invention. Those skilled in the art of the present invention can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A high-precision motion control system for a stacker based on a fuzzy immune algorithm, characterized in that, It includes a multi-axis motion control module, a double closed-loop feedback module, a parameter self-learning module, a safety protection and diagnosis module, a positioning detection module, a path planning module, and an environment and maintenance management module; the multi-axis motion control module integrates a fuzzy immune algorithm processing unit and is connected to the servo driver through an EtherCAT bus; the multi-axis motion control module supports: the horizontal direction speed control range is 0-180m / min, and the acceleration ≤ 0.3m / s²; the vertical direction speed control range is 0-45m / min, and the acceleration and deceleration are smoothly transitioned by an S-curve; the multi-target point path planning function supports online interpolation operation; the double closed-loop feedback module includes: for horizontal positioning, an absolute grating scale is used, with a resolution ≤ 0.01mm and an allowable axial floating amount of ±1mm; for vertical positioning, a magnetostrictive sensor is used, with a repeat positioning accuracy ≤ ±0.5mm; for the speed loop, a 24-bit high-precision encoder is used, and the speed detection error ≤ ±0.1%.

2. The high-precision motion control system of a stacker based on a fuzzy immune algorithm according to claim 1, wherein, The parameter self-learning module is configured with a machine learning processor accelerated by an FPGA and stores a historical operation data database; data acquisition: stores historical operation data, with a sampling interval ≤ 10ms; LSTM network structure: input layer → three hidden layers → output layer; Online learning: adopts an incremental learning algorithm, and the model update period ≤ 1 hour; The safety protection and diagnosis module monitors the current and temperature parameters of the walking motor in real time and starts a dynamic load reduction program when the power exceeds 22KW; Safety monitoring and diagnosis, fault tree analysis: presets 20 types of fault modes and triggers hierarchical protection: first-level alarm: reduces the running speed; second-level alarm: emergency stop and locks the mechanism; self-diagnosis function: automatically performs servo motor winding insulation detection at startup every day; real-time monitors the EtherCAT network communication packet loss rate; the safety protection module also includes a vibration suppression unit and a broken rope protection unit. The vibration suppression unit detects abnormal vibrations through a three-axis acceleration sensor and automatically adjusts control parameters; the broken rope protection unit triggers an emergency brake when the wire rope tension drops by more than 20% of the rated value.

3. A high-precision motion control system for a stacker based on a fuzzy immune algorithm according to claim 1, characterized in that, For the horizontal positioning of the positioning detection module, an absolute grating scale is laid along the entire length of the ground guide rail, and the reading head is installed at the bottom of the walking mechanism; for vertical positioning: the magnetostrictive sensor is embedded inside the column, and the detection rod is rigidly connected to the cargo platform mechanism; The path planning module includes a dynamic path planning optimization algorithm unit, a vibration suppression unit, and a digital twin unit. The dynamic path planning optimization algorithm unit selects the shortest and smoothest path while avoiding obstacles, reducing unnecessary starts, stops, and turns; the vibration suppression unit eliminates sensor noise through software filtering or adds an S-curve acceleration and deceleration curve planning during the acceleration stage to suppress mechanical vibrations; the digital twin unit establishes a digital twin model of the stacker, simulates the operating state, and predicts potential errors, optimizing parameters in advance.

4. A high-precision motion control system for a stacker based on a fuzzy immune algorithm according to claim 1, characterized in that, The environment and maintenance management module includes an environment detection and control unit, a preventive maintenance unit, and an operation specification training unit. The environment detection and control unit monitors the temperature and humidity in real time to keep the warehouse at a constant temperature and humidity, avoiding material deformation caused by temperature fluctuations; regularly cleaning the dust and debris on the guide rails and transmission components; the preventive maintenance unit reminds to regularly check and lubricate key components such as guide rails, gears, and bearings; using a vibration analyzer to monitor abnormal vibrations of the motor and transmission system; predicting the component life through historical data and replacing vulnerable parts in advance; the operation specification training unit plays standard operation videos to avoid overloading or offloading operations, ensuring the stability of the center of gravity of the goods and reducing the impact on the forklift and columns; the control system supports dual protocol communication interfaces of CANopen and Profinet. The online parameter tuning function provides an expert debugging mode; the operation status visualization monitoring interface can display the positioning error curve and energy consumption data in real time.

5. The high-precision motion control system of a stacker based on a fuzzy immune algorithm according to claim 1, characterized in that, It also includes a stacker, which includes ground rails (1) and an absolute grating scale (10) placed parallel to each other on the warehouse floor and a sky rail (7) placed at the top of the warehouse. A moving frame mechanism (2) is provided between the ground rail (1) and the sky rail (7). A screen-equipped electric control box (8) and a ladder (9) are provided on the left side of the moving frame mechanism (2). A cargo platform mechanism (3) is driven and installed on the moving frame mechanism (2). An angle lifting and fine-tuning mechanism (4) is provided at the upper end of the cargo platform mechanism (3). A lateral movement fine-tuning mechanism (5) is provided at the upper end of the angle lifting and fine-tuning mechanism (4). A telescopic fork plate mechanism (6) is provided at the upper end of the lateral movement fine-tuning mechanism (5). A flat cable guide (11) is provided between the lower part of the cargo platform mechanism (3) and the moving frame mechanism (2).

6. The high-precision motion control system of a stacker based on a fuzzy immune algorithm according to claim 5, characterized in that The stacker also includes two ground travel switch bumpers (18) placed on the warehouse floor. The two ground travel switch bumpers (18) are located on both sides of the ground rail (1), and the two ground travel switch bumpers (18) are respectively located at the left and right ends of the ground rail (1). The moving frame mechanism (2) includes a first lifting chain (56), a second lifting chain (57), and a moving lower cross beam (14) which is drivably arranged above the ground rail (1). Ground travel switches are provided at both ends of the side of the moving lower cross beam (14). At the upper end of the moving lower cross beam (14), a left column (13) and a right column (15) which are symmetrically arranged in the left and right positions are provided. A lifting motor (62) is fixed on the right column (15). Inside the right side of the moving lower cross beam (14), two driving double-row sprockets (63) are rotatably provided. The output shaft of the lifting motor (62) is in driving connection with the rotating shafts of the two driving double-row sprockets (63). Inside the left column (13), a counterweight block group (17) is provided. A number of guide wheels (55) are fixed at both the upper and lower ends of the counterweight block group (17). The guide wheels (55) roll and abut against the inside of the left column (13). At the upper ends of the left column (13) and the right column (15), a driven upper cross beam (12) is fixed. The driven upper cross beam (12) rolls and abuts against the sky rail (7). A sky rail point brake is provided on the driven upper cross beam (12). On the left and right sides inside the driven upper cross beam (12), sprocket shafts one (58) of the same height are rotatably provided. Two driving double-row sprockets one (61) are fixed on each of the sprocket shafts one (58). On the right side inside the driven upper cross beam (12), two sprocket shafts two (59) are rotatably provided. Two driving double-row sprockets two (60) are fixed on each of the two sprocket shafts two (59) on the right side. On the left side inside the driven upper cross beam (12), one sprocket shaft two (59) is rotatably provided. One driving double-row sprocket two (60) is fixed on the sprocket shaft two (59) on the left side. The sprocket shafts two (59) are of the same height and are lower than the height of the sprocket shafts one (58). One end of the first lifting chain (56) is connected to the upper end of the counterweight block group (17), and the other end of the first lifting chain (56) is connected to the upper left end of the cargo platform mechanism (3). The first lifting chain (56) sequentially passes through the front driving double-row sprocket one (61) on the left sprocket shaft one (58), the front driving double-row sprocket one (61) on the right sprocket shaft one (58), the front driving double-row sprocket (63), the front driving double-row sprocket two (60) on the two right sprocket shafts two (59), and the driving double-row sprocket two (60) on the left sprocket shaft two (59). One end of the second lifting chain (57) is connected to the upper end of the counterweight block group (17), and the other end of the second lifting chain (57) is connected to the upper right end of the cargo platform mechanism (3). The second lifting chain (57) sequentially passes through the rear driving double-row sprocket one (61) on the left sprocket shaft one (58), the rear driving double-row sprocket one (61) on the right sprocket shaft one (58), the rear driving double-row sprocket (63), and the rear driving double-row sprocket two (60) on the two right sprocket shafts two (59). A number of fork orthogonizers (16) are provided on the side of the moving lower cross beam (14); The loading platform mechanism (3) includes a base (19). Symmetric side beam frames (22) are provided at the upper end of the base (19). Mounting brackets (20) are fixed to the left and right sides of the front and rear end faces of the base (19). Wire installation pipes (21) are fixed to the upper ends of the mounting brackets (20). An electrical box (23) is provided on one of the side beam frames (22). Clamping wheel sets (24) are provided at the upper end and the outer side of the side beam frame (22). The left and right clamping wheel sets (24) respectively roll and abut against the left upright column (13) and the right upright column (15). A vertically placed braking electric push rod (64) is slidably provided on the side beam frame (22). Return springs (30) are provided between the braking electric push rod (64) and the side beam frame (22). A fixed shaft (25) and two symmetrically arranged front and rear inclined braking frames (29) are fixed inside the side beam frame (22). Braking blocks (28) are slidably provided inside the braking frames (29). A swing frame (27) is rotatably provided on the fixed shaft (25). The telescopic end of the braking electric push rod (64) is hinged to one end of the swing frame (27). A toggle rod (26) is hinged to the other end of the swing frame (27). The toggle rod (26) is hinged to the braking block (28). The other ends of the lifting chain one (56) and the lifting chain two (57) are respectively connected to the upper ends of the left and right braking electric push rods (64).

7. A high-precision motion control system for a stacker based on a fuzzy immune algorithm according to claim 6, characterized in that, The angle lifting and fine-tuning mechanism (4) includes a fixed base (31). The fixed base (31) is fixed to the upper end of the base (19). A number of lifting hydraulic cylinders (33) are fixed to the upper end of the fixed base (31). A lifting base plate (34) is fixed to the telescopic end of the lifting hydraulic cylinder (33). Slide rods (32) are fixed to the four corners of the lower end of the lifting base plate (34). The slide rods (32) are slidably provided on the fixed base (31). A number of rotation position sensors (35) are fixed to the upper end of the lifting base plate (34). A rotating top plate (36) is rotatably provided on the upper end of the lifting base plate (34). A driven shaft gear (37) is fixed to the rotating shaft of the rotating top plate (36). A rotating motor (39) is fixed to the lower end of the lifting base plate (34). The output shaft of the rotating motor (39) penetrates through the lifting base plate (34) and a driving gear (38) is fixed to the output shaft of the rotating motor (39). The driving gear (38) meshes with the driven shaft gear (37); The transverse movement fine-tuning mechanism (5) includes a transverse movement base plate (40). The transverse movement base plate (40) is fixed to the upper end of the rotating top plate (36). A transverse movement electric screw rod (41) and two slide rails (42) are provided on the upper end of the transverse movement base plate (40). The two slide rails (42) are located on both sides of the transverse movement electric screw rod (41). A transverse movement top plate (43) is slidably provided on the two slide rails (42). The transverse movement top plate (43) is in transmission connection with the transverse movement electric screw rod (41); The telescopic fork plate mechanism (6) includes a telescopic base plate (48). The telescopic base plate (48) is fixed to the upper end of the transverse movement top plate (43). Fixed guide rails (44) are fixed on both the left and right sides of the upper end of the telescopic base plate (48). A telescopic position adjustment motor (47) is fixed in the middle of the upper end of the telescopic base plate (48). A double-output shaft transmission seat (46) is fixed in the middle of the lower end of the telescopic base plate (48). The output shaft of the telescopic position adjustment motor (47) is in transmission connection with the input shaft of the double-output shaft transmission seat (46). Position adjustment drive shafts (45) are rotatably provided on both the left and right sides of the lower end of the telescopic base plate (48). The position adjustment drive shafts (45) are in transmission connection with the output shafts on the same side of the double-output shaft transmission seat (46). Position adjustment drive sprockets are fixed on the position adjustment drive shafts (45). First limit sensors (49) are fixed at the four corners of the upper end of the telescopic base plate (48). Two first telescopic sprockets (54) that are arranged vertically and staggeredly are rotatably provided at the four corners of the upper end of the telescopic base plate (48). The first telescopic sprockets (54) and the first limit sensors (49) are both located inside the fixed guide rails (44) on the same side. Movable guide rails (51) are slidably provided on the upper ends of the fixed guide rails (44). Second limit sensors (50) are fixed on both the front and rear sides of the upper end of the movable guide rails (51). Second telescopic sprockets (53) are rotatably provided on both the front and rear sides of the upper end of the movable guide rails (51). Fork plates (52) are slidably provided on the upper ends of the movable guide rails (51). A first telescopic chain is provided for transmission between the position adjustment drive sprockets on the same side and the two lower first telescopic sprockets (54). One section of the first telescopic chain is fixedly connected to the movable guide rail (51). A second telescopic chain is provided for transmission between the two upper first telescopic sprockets (54) on the same side and the two second telescopic sprockets (53). One section of the second telescopic chain is fixedly connected to one section of the first telescopic chain. The fork plate (52) is fixedly connected to one section of the second telescopic chain.

8. A control method for a high-precision motion control system of a stacker based on a fuzzy immune algorithm as described in any one of claims 1-7, characterized in that, It includes the following steps: Step 1, construct a three-level control architecture, establish a PID control model integrating fuzzy control rules and immune feedback mechanism, and construct a three-level control architecture including a proportional factor dynamic adjustment layer, a fuzzy integral and differential parameter layer, and an immune feedback correction layer; Among them, the proportional factor dynamic adjustment layer adjusts the proportional coefficient Kp in real time based on the load change rate and environmental disturbance; The fuzzy integral and differential parameter layer dynamically optimizes the integral coefficient Ki and the differential coefficient Kd through a fuzzy logic controller; The immune feedback correction layer uses an immune feedback mechanism to perform non-linear compensation on Kp; Step 2, adjust the integral coefficient and the differential coefficient: The fuzzy logic controller is used to collect the stacker displacement deviation E and the deviation change rate EC in real time, perform fuzzy processing on the input variables using a triangular membership function, and generate an integral coefficient adjustment factor ΔKi and a differential coefficient adjustment factor ΔKd based on a preset fuzzy rule base. The universes of discourse of the input variables E and EC of the fuzzy rule base are divided into 7 fuzzy subsets, and the adjustment ranges of the output variables ΔKi and ΔKd are [0.5, 1.5]; Step 3, establish a feedback quantity calculation model: Introduce an immune feedback mechanism to nonlinearly optimize the proportional coefficient Kp, establish a feedback quantity calculation model based on antibody concentration regulation, and calculate the immune feedback factor α in real time according to the system response state; Step 4, construct machine learning parameters: The parameter self-learning module learns the historical operation data, uses the LSTM network to establish a dynamic mapping model of control parameters, and outputs the initial optimized values of the PID parameters; Step 5, input the optimized parameters into the system: Input the optimized PID parameters into the servo drive system to control the stacker actuator to operate under the technical indicators of a horizontal positioning accuracy of ≤±5mm, a vertical positioning accuracy of ≤±5mm, a horizontal speed of 180m / min, and a vertical speed of 45m / min.

9. The control method of the high-precision motion control system of the stacker based on the fuzzy immune algorithm according to claim 8, characterized in that, The calculation formula of the immune feedback factor α in the third step is as follows: , where K is the immune gain coefficient, η is the inhibition coefficient, β is the regulation factor, and e(t) is the real-time tracking error; The regulator β of the immune feedback factor α is adaptively adjusted according to the system dynamic response state, and the adjustment formula is: , where β0 is the initial value and γ is the adaptive gain coefficient; In the fourth step, the LSTM network includes three hidden layers. The input features of the LSTM network include speed deviation, load change rate, and environmental temperature parameters. The output layer of the LSTM network uses the Sigmoid activation function to normalize the PID parameters. The normalization range is: ; The proportional factor dynamic adjustment layer in the three-level control architecture automatically corrects the basic proportional coefficient according to the load change rate; the fuzzy integral differential parameter layer uses the Mamdani inference method for fuzzy decision-making; the immune feedback correction layer realizes the adaptive adjustment of the control gain through a nonlinear function.

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