S-Curve Trajectory Control for Stable Load Handling Motion
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Solution Overview
Problem
Existing load handling devices in storage systems experience instability and oscillation during acceleration and deceleration on grid structures, leading to potential damage of items and inefficient movement.
Innovation Solution
A method and system for generating a time-optimal motion control profile using an S-curve trajectory generator that calculates jerk references to ensure smooth and stable movement, employing a velocity transition algorithm to adjust acceleration and deceleration segments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If traditional motion control is used for load handling devices on grid structures, then the device can move between positions, but the device experiences instability and oscillation during acceleration and deceleration
Solution Approach 1:
The motion control profile is generated in advance using an S-curve trajectory generator that pre-calculates jerk references, acceleration segments, and velocity transitions to ensure smooth acceleration and deceleration, preventing instability before it occurs
Solution Approach 2:
The patent changes the motion control parameters by implementing jerk constraints and using S-curve trajectories instead of traditional linear or trapezoidal profiles, transforming the acceleration and deceleration characteristics to eliminate oscillation
2Productivity
If faster movement of load handling devices is implemented, then productivity increases, but oscillation and potential damage to items increases
Solution Approach 1:
The system pre-generates optimized motion control profiles that balance speed and smoothness, allowing fast movement while preventing oscillation through预先 calculated jerk and acceleration segments
Solution Approach 2:
The motion control system uses feedback from position sensors and jerk constraints to continuously adjust acceleration and deceleration segments, ensuring items are protected while maintaining high productivity
3Object-affected harmful factors
If smooth and stable movement is achieved through S-curve trajectory generation, then item protection is improved, but the complexity of the motion control system increases
Solution Approach 1:
The motion control system generates its own optimized profiles using the S-curve trajectory generator and velocity transition algorithms, making the system self-regulating and reducing the need for external complex control mechanisms
Solution Approach 2:
The patent manages complexity by systematically changing control parameters (jerk constraints, acceleration segments, velocity transitions) through a structured S-curve approach, making the complex control manageable and predictable
Data Source
AI summary
A method for generating a trajectory to control movement of a motion device, by: i) receiving a specification of the trajectory; ii) receiving at least one jerk constraint; and iii) generating a sequence of one or more trajectory segments based on the at least one jerk constraint. The generating includes applying a velocity transition algorithm including moving the magnitude of a velocity reference of the trajectory segments in a given time to a desired final velocity reference, the difference between the desired final velocity reference and the velocity reference defining a velocity delta. The velocity transition algorithm includes computing a peak acceleration having a magnitude being a function of the velocity delta.