Research On The Running Process Control Method Of The Stacker In Automated Warehouse

With the rapid development of the modern logistics industry,the automated warehouse is everywhere,and the requirements of its technical level and operational efficiency are rapidly increasing.As the core handling equipment of the automatic warehouse,the control performance of the stacker will directly determine the efficiency of the automated warehouse.Therefore,it is of practical significance to optimize the control system of the stacker.In this paper,the double pillar stacker crane as the research object,the conventional speed control method for a comprehensive and thorough analysis.Aiming at the problems of multi speed control of long running time and speed of mutation,column of large amplitude,S type velocity curve control scheme is proposed to improve the rapidity,safety and accuracy of stacking machine,and at the same time,the simulation model of the column swing is established in the MATLAB/Simulink module to prove the effect of S curve.Simulation results show that when the stacker running a middle or long distance,using S type speed curve control mode,the optimization effect is more obvious.In addition,the stacker will be disturbed by a lot of external factors in the actual operation,resulting in the creep,jitter and positioning errors of the stacker.In order to further improve the positioning accuracy and stability of the stacker,in this paper,the performance of the conventional PID control system is analyzed,and the fuzzy control algorithm and immune feedback control algorithm are introduced in the PID algorithm to design a fuzzy immune adaptive PID.for optimizing the position control system and achieving the purpose of quick start and stop of stacker.Fuzzy immune adaptive PID solves the problems such as large overshoot,long response time and easy instability in conventional PID control,and it also solves the problem that the fuzzy PID has a high dependence on the model,at the same time,it accelerates the response speed of the system and reduces the adjustment time.Fuzzy immune adaptive PID controller and conventional PID controller and fuzzy PID controller control effect is simulated in MATLAB simulation software.The simulation results show that the fuzzy immune adaptive PID which is designed in this paper has better stability,anti-interference capability and better dynamic and static performance.In this paper,the control system of stacker crane is studied from speed control and position control that two point of views,and the optimal design scheme is given according to the specific problems of each control method.They improve the control precision,stability and rapidity of the stacker control system,optimizes the control performance of the stacker and improve the working efficiency of the stacker.