Multi-axis Synchronous Motion Control Of 3D Shuttl

3D shuttle is the main development direction of the future warehouse,but because of its control system is nonlinear,multi-coupling complex system,high precision control effect is usually difficult to achieve.In order to improve the control precision of 3D shuttle and solve the problems of low synchronization and low anti-interference of the control system built by general methods,this paper studies a control strategy suitable for 3D shuttle control system.Firstly,design control system of the 3D shuttle according to its control mode and requirements,and connect each module to establish a 3D shuttle control system.Then,analyse the mathematical model of servo motor,propose a sliding-mode adjacent cross-coupling based on virtual shaft synchronization control strategy,the multi-axis control simulation model was established based on the control strategy,and perform load simulation analysis on the simulation model under horizontal driving and vertical climbing conditions to verify the control effect of the control system.Then,the simulation model is realized by programming the control program in the controller,and the 3D shuttle experimental control system is established.Finally,the experimental environment of horizontal walking and vertical climbing was established,and the load experiment was carried out on the 3D shuttle experimental control system,and the experimental error was analyzed,and the improvement was made.Experimental results show that the speed of each axis in the control system is basically the same after adopting the sliding-mode adjacent cross-coupling based on virtual shaft synchronous control strategy with double error signal compensation.After being disturbed,the maximum transient speed difference of the system is only 0.02r/s,and each axis can be adjusted to achieve synchronization again within 0.3s.After interference,the cumulative displacement difference of each axis is only 0.00628 rad,the cumulative height difference of both sides of the shuttle is only 0.5024 mm,and the resulting shuttle inclination angle is only 0.057 deg.The research shows that the sliding-mode adjacent cross-coupling based on virtual shaft synchronous control strategy with double error signal compensation has good control effect,high synchronization and strong anti-interference,and is suitable for the multi-axis control system of 3D shuttle.