Control System Design For Lifting And Moving Stereo Garage And Its Path Optimization Study

With the increase of car ownership and the rapid development of the automobile industry in China,the problem of parking in disorder becomes more and more serious.The traditional parking space can no longer meet the current parking demand.The vertical parking idea is gradually developed.The three-dimensional garage can solve the problem of inadequate parking space supply.Compared with the traditional parking lot,the three-dimensional garage has many advantages,such as less space,more parking,high efficiency,intelligent and so on.Based on these advantages,it becomes an effective substitute for the traditional parking lot.Based on the development of three dimensional garage and the advantages and disadvantages of diffenert types and market demanding,four-storey four-column 13-car position lifting and moving stereo garage is taken as the research object in this paper.The technical indicators of the stereo garage were determined.The garage frame structure and the detection part and the selection of the power motor were carried out.The control system based on S7-200 PLC is designed,the I/O port is allocated reasonably.The system hardware design is completed.The communication system between PLC and industrial computer(PC)is based on modbus communication protocol.The communication system between PLC and M440 inverter is based on the USS communication protocol.The three-level communication system of the PC-PLC-control device is realized.It analyzed the access time required for different access strategies during peak rush hours,peak car pick-up periods,and even access times.Based on queuing theory and under different access densities,the shortest access time wa selected as the object of optimization.The mathematical model of access strategy was established and simulated by Matlab.The results of different access strategies were compared.At the same time,the path optimization algorithm of the vehicle board was designed.The optimal path algorithm was programmed,and the path optimization algorithm was verified.The lifting motor of the stereo garage drives large load torque and has a long running distance.Frequency conversion speed control is generally adopted.In order to make the lifting process smooth,the S-type speed curve was designed to eliminate the motor speed cusp.In order to achieve the desired effect,the speed curve of the motor is simulated by Matlab.Based on the simulation results,the parameters of the inverter were set in PLC.The speed curve of the lifting motor is recorded by the laboratory equipment,which basically reaches the expectation.Based on the operation principle of the access vehicle in the lifting and transverse stereo garage,combined with the frequency conversion speed regulation of the lifting motor and the optimized path,the control program of the access vehicle based on PLC is designed,which can automatically select the optimal target parking space and automatically access the vehicle.