Research On Lifting Straight Trajectory Control Of Container Reach Stacker

Container reach stacker is a kind of logistics equipment widely used on ports, docks, railways, roads, transfer stations and storage yards for container loading, unloading, stacking and carrying. The increasing strain of port resources nowadays requires for higher work efficiency of logistics equipment. However, as a machine with low operation intelligence, a container reach stacker works at low efficiency and requires for high operation proficiency. To solve this problem, ZLRS14-7020container reach stacker is researched in this paper, its several common work paths are analyzed,and the hydraulic control system model is established using the transfer function method, a variety of control strategies are applied to conduct a contrastive analysis on straight line trajectory deviation controlling. The main works and achievements in this paper are as follows:(1)The whole structure of container reach stacker is studied, the control theories of hydraulic system and electric system are designed, and models of key parts are selected.(2)The container reach stacker’s hydraulic control system modelling method is determined, and the mathematic models of telescopic cylinder and luffing cylinder are built using transfer function method.(3)Working characteristics of the container reach stackers are discussed, the relationships between the two cylinders’ length variation and time are set through inverse kinematics, and an ideal input signal model is established in Simulink.(4)The control principles and characteristics of non-coupling, unidirectional coupling and bidirectional coupling are studied, on the basis of realizing straight line carrying, different straight line trajectory control models are built using different coorperative control methods. In different control models, the control effectiveness of straight line trajectory deviations are compared and analyzed, the analysis shows that all the control methods can maintain straightness of the trajectory effectively, while bidirectional coupling PID control brings the best result, and a reference for practical application is provided.