Anti-swing Analysis And Intelligent Algorithm Implementation Of High Speed And High Acceleration Stacker

In recent years.With the advantages of low cost,high efficiency and low storage and transportation costs,automated warehouse has been widely used in modern logistics supply chain system.Stacker is the core handling equipment in the storage and logistics industry.The technical performance indexes of stacker,such as working efficiency and stability,affect the cooperation of all intelligent devices in the automated warehouse and directly determine the working efficiency of the enterprise.On the premise of ensuring the stability of stacker,the continuous development in the direction of high-speed and high acceleration requires the continuous improvement of mechanical manufacturing process and the continuous development of automatic control technology.Firstly,the total deflection formula and the swing equation of the column are established,and the factors that affect the stability of the stacker in the process of high speed and high acceleration are analyzed.Based on the conclusion,a new type of speed control curve is proposed:trigonometric function speed control curve.Secondly,the total deflection formula and the swing equation of the column are derived,and the factors affecting the stability of the stacker in the process of high speed and high acceleration are analyzed.Based on the conclusion,a new speed control curve,trigonometric function speed control curve,is proposed to improve the speed algorithm and obtain better anti rolling performance while improving the efficiency index.Finally,the optimal control theory is put forward.The control idea is to achieve the optimal amplitude of column swing under the premise of ensuring efficiency.Finally,the PLC program is designed for the horizontal and vertical speed control curve and the optimal control theory of stacker.