Research On Synchronous Control Method Of Stacker Double Motor

The automated three-dimensional storage system is a comprehensive system integrating mechanical,electrical and information technology.It is used to realize the functions of automatic sorting,sorting and accessing of materials;it has been widely used in domestic and international logistics fields.In recent years,with the rapid development of the electric commerce and logistics express industry,the operational efficiency and information accuracy of the automated three-dimensional storage system are also getting higher and higher.As the core equipment in the automatic three-dimensional storage system,the stacking machine determines the operating efficiency of the entire storage center;the newly designed stacker requires fast speed,high efficiency and high safety,which prompts the heap.Downtime technology for further upgrades and optimizations.Among the parameters of all stackers,the load-bearing capacity and speed of the stacker are two key parameters.The traditional design method is to use one motor for horizontal operation of the stacker.With the stacker runs fast and the load is heavy,the power and weight of the motor will increase.After the motor power is increased,the overall size of the stacker will increase,which will affect the footprint of the storage system.To this end,this paper proposes a multi-motor synchronous drive method.Since the stacker is an integral mechanical structure,it belongs to a rigid load.When using multi-motor drive,its structural stress must be considered.When the two motors are synchronously driven,the torque equalization control strategy is performed while ensuring the speed synchronization.This paper mainly completed the structural analysis of the dual motor drive system and the establishment of the mathematical model of the dual motor drive system.Based on this,the simulation model of the dual motor drive system was established.The simulation proved that the scheme is feasible.Finally,the actual system design was carried out in the paper.After the actual project debugging,the synchronous response time was 80 milliseconds,and the synchronous error rate was less than 2 thousandths,which achieved the expected effect.