Motion Control Algorithm On Shelf Shuttle And Development Of Control Board

Shelf shuttles are used to transport goods between shelves to realize the automatic management of goods in and out of the storage system.Its movement speed and positioning accuracy directly affect the throughput rate of the automated warehouse.This thesis focuses on the key technology of positioning accuracy of shelf shuttle.at high speed.The main research work and conclusions are as follows:A new shuttle motion control algorithm is proposed in this thesis.The S curve algorithm is used to plan the speed reference curve of the shuttle,and the double closed-loop control is used to follow the given reference speed.The vector control algorithm of the walking motor is designed,which uses the SVPWM technology to generate the phase angle difference sine wave current waveform in the three-phase winding coil to reduce the motor output torque ripple..The feedforward decoupling and the internal model control method are designed to set the parameters of the current loop regulator.The feed-forward decoupling realizes the decoupling of cross-coupled electromotive force,and the internal model control solves the high-precision requirements of feed-forward decoupling on the motor model to weaken the system’s sensitivity to motor model parameters.The large load variation range is the main factor that affects the positioning accuracy of the shuttle movement.So a deviation compensation method for the movement displacement of the shuttle is proposed in this thesis.The actual movement displacement is calculated at the maximum speed,and the reference displacement is simultaneously compared with the S curve to calculate the actual load.The subsequent trajectory is replanned according to this load value,and the displacement deviation is compensated before the shuttle enters the deceleration stage to reduce the effect of variable load on the positioning accuracy of the shuttle movement.The control board on the shuttle is developed with chip ARM as as the main control chip.The Ethernet module is implemented with the hardware protocol chip to eliminate the possibility of network attacks.The chip completes the TCP / IP handshake internally through the hardware logic circuit and realizes the network protocol to save MCU resources.The SVPWM vector control algorithm uses the phase current as the input,And the three-resistance sampling circuit is used as the motor’s phase current sampling circuit with large current sampling window to collect current value accurately and reliably.The simulation model on the double closed-loop vector control of the motor has been built by Simulink,and the above algorithm has been simulated and analyzed to verify its feasibility and effectiveness.Integrate the designed algorithm and control board are integrated into the shuttle for experimental testing.Experimental data shows that the shuttle can achieve a maximum operating speed of 3.5m/s and the positioning error of less than 2mm,it can accurately complete the operation instructions and the speed of the transportation changes smoothly without impact.