Research On Motion Control Of Stacker Under Large Inertia Load

Under heavy load conditions,the torsion of motor and the fluctuation of speed curve caused by the flexible deformation of transmission shaft will have a negative impact on the performance of control system.In order to simplify the design problem,the traditional motor drive model converts the influence of inertia on the load side to the motor side,ignoring the influence of the flexible deformation of the transmission shaft on the output torque and speed of the servo motor.However,with the increase of power and load-bearing capacity of heavy-duty stacker,the traditional controller can not effectively control the influence of flexible deformation of transmission shaft on output torque and output speed of motor.Therefore,the research on high performance controller of heavy-duty stacker is of great significance.In this paper,the servo system of large inertia load equipment such as heavy-duty stacker is taken as the research object.Considering the influence of load inertia and flexible deformation of transmission shaft,the dynamic model of large inertia load servo system is established,and the dynamic simulation analysis of the model is carried out based on ADAMS.In order to solve the problem of output torque and output speed curve fluctuation caused by flexible deformation.An adaptive robust controller is designed and applied to the established dynamic model,and the joint simulation analysis is carried out.Firstly,the transmission process of heavy-duty stacker with large inertia load equipment is simplified as the model of motor driving load by transmission shaft to rotate,and the dynamic model of large inertia load servo system is established according to Newton's kinematics law.Dynamics simulation analysis was carried out before and after the flexible treatment of the transmission shaft in the model.The simulation analysis found that after the flexible treatment,the traditional PID controller was used to control the motor.Compared with before the flexible treatment,the torque and speed output curve of the motor would fluctuate greatly.Then,in order to solve the problem that the output torque and output speed curve fluctuate greatly by the traditional PID controller after flexible processing,an adaptive robust controller is designed by using the back-stepping design method.The Lyapunov stability of the controller is judged.The Stability Judgement proves that the controller can be applied to the dynamic model of large inertia load servo system.Finally,in order to verify the effectiveness of the designed controller,the model is simulated and analyzed based on ADAMS and MATLAB,and the designed adaptive robust controller is applied to the joint simulation.Through the analysis of the simulation results,it is verified that the designed adaptive robust controller can effectively alleviate the output torque and output speed of the motor due to the flexible deformation of the transmission shaft.The influence of degree curve fluctuation.