自动穿梭板行进系统设计及运动控制研究
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摘要
自动化立体仓库是现代物流的代表技术,具备提升物流管理水平、提高作业效率、节省占地等诸多优点。近年来欧美等发达国家在对自动化程度要求不高并在人工叉车装卸货环境下,均有自动穿梭板这种存取半自动化机器的使用。自动穿梭板是一种应用于密集式立体仓库的托盘式自动搬运设备,由于其采用了贯通式货架,能够最大限度地利用仓库空间,而且工作方式灵活,提高了存取效率。
由于自动穿梭板在特定的货架上运行,因而限制了自动穿梭板在高度上的结构尺寸。因此,在设计自动穿梭板的行进系统时在使其结构简单化、性能可靠化的条件下,尽量使其体积最小化、结构最优化。文中在综合考虑其各个功能模块的前提下,设计了自动穿梭板的机械结构。在步进电机与滚轴之间采用齿轮减速器对步进电机进行增矩减速,并使系统运转平稳,而在两个滚轴之间采用链传动形式。然后对步进电机的型号进行了选择计算,文中选用MOTEC公司的SM3913步进电机作为行进系统的动力输出部件。随后对其关键部件进行了有限元分析。
自动穿梭板在贯通式货架上的轨道上运行时,需要经历启动、加速、恒速、减速以及停止的过程。为了对其进行位置及速度控制进行精确控制,文中对现在常用的加减速曲线做了原理上的分析,在不影响系统性能的条件下,选用分段式加减速曲线作为其控制算法。为了实现对穿梭板的运动控制,文中选用三相混合式步进电机作为动力来源,以实现对穿梭板的运动控制。最后对穿梭板的硬件及软件控制结构进行了设计。
Automatic multi-level represents the technology of modern logistics system which improve the supply chain management level through increasing the work efficiency, reducing manpower and utilizing limited usable construction area, etc. Awarehouse utomatic shuttle has been used in the environment that do not need high degree of automation and artificial forklift in the developed country of Europe and the United States. Automatic shuttle is the equipment that can handle cargo automatic in the stereoscopic warehouse. With the use of through rack, the space utilization of warehouse can be high, and the flexible working mode of automatic shuttle can meet the requirement of handing cargo.
In the designing of automatic shuttle we need to consider the working condition on the shelf, so the size of structure of automatic shuttle need to be small and the reliability and stability need to be high . In this paper design the mechanical structure of automatic shuttle based on the function module of automatic shuttle. Used the gear reducer between the stepper motor and roller which used the chain transmission system to increase the torque and reduce the speed and make the motion system running stable. Choose and calculate the stepper motor base on the demand of drive the motion system of automatic. The paper chooses the stepper motor which the type is SM3913 made by the company of MOTEC.
Automatic shuttle need experience the he process of start, acceleration, constant speed, deceleration and stop. In order to improve the control precision of automatic shuttle, the paper made some research on the principle of acceleration and retardation curve of stepper. Choose the special speed curve as the motion control algorithm which do not effect the system performance. At last choose a kind of three-phase hybrid stepping motor as a power source in order to achieve the motion control of automatic shuttle. And design the hardware circuit and the program of the motion control system of automatic shuttle.
由于自动穿梭板在特定的货架上运行,因而限制了自动穿梭板在高度上的结构尺寸。因此,在设计自动穿梭板的行进系统时在使其结构简单化、性能可靠化的条件下,尽量使其体积最小化、结构最优化。文中在综合考虑其各个功能模块的前提下,设计了自动穿梭板的机械结构。在步进电机与滚轴之间采用齿轮减速器对步进电机进行增矩减速,并使系统运转平稳,而在两个滚轴之间采用链传动形式。然后对步进电机的型号进行了选择计算,文中选用MOTEC公司的SM3913步进电机作为行进系统的动力输出部件。随后对其关键部件进行了有限元分析。
自动穿梭板在贯通式货架上的轨道上运行时,需要经历启动、加速、恒速、减速以及停止的过程。为了对其进行位置及速度控制进行精确控制,文中对现在常用的加减速曲线做了原理上的分析,在不影响系统性能的条件下,选用分段式加减速曲线作为其控制算法。为了实现对穿梭板的运动控制,文中选用三相混合式步进电机作为动力来源,以实现对穿梭板的运动控制。最后对穿梭板的硬件及软件控制结构进行了设计。
Automatic multi-level represents the technology of modern logistics system which improve the supply chain management level through increasing the work efficiency, reducing manpower and utilizing limited usable construction area, etc. Awarehouse utomatic shuttle has been used in the environment that do not need high degree of automation and artificial forklift in the developed country of Europe and the United States. Automatic shuttle is the equipment that can handle cargo automatic in the stereoscopic warehouse. With the use of through rack, the space utilization of warehouse can be high, and the flexible working mode of automatic shuttle can meet the requirement of handing cargo.
In the designing of automatic shuttle we need to consider the working condition on the shelf, so the size of structure of automatic shuttle need to be small and the reliability and stability need to be high . In this paper design the mechanical structure of automatic shuttle based on the function module of automatic shuttle. Used the gear reducer between the stepper motor and roller which used the chain transmission system to increase the torque and reduce the speed and make the motion system running stable. Choose and calculate the stepper motor base on the demand of drive the motion system of automatic. The paper chooses the stepper motor which the type is SM3913 made by the company of MOTEC.
Automatic shuttle need experience the he process of start, acceleration, constant speed, deceleration and stop. In order to improve the control precision of automatic shuttle, the paper made some research on the principle of acceleration and retardation curve of stepper. Choose the special speed curve as the motion control algorithm which do not effect the system performance. At last choose a kind of three-phase hybrid stepping motor as a power source in order to achieve the motion control of automatic shuttle. And design the hardware circuit and the program of the motion control system of automatic shuttle.
引文
1朱从民,王卫青等.自动穿梭板的设计及应用[J].物流技术,2007:26.(9):96-97
2朱从民,黄玉美.双穿梭板密集存取自动化立体仓库专家系统.起重运输机械,2006(12):29-30
3王卫青,朱从民,任小芳.穿梭板系统研究与工程应用.机电一体化,2008(2):90-92
4海老原大树,王益全,刘军.电动机技术使用手册.科学出版社.2006.03
5周明安,朱光忠,宋晓华等.步进电机驱动技术发展及现状.机电工程技术.2005, 34(2):16-17
6 P.P Acarnley.Stepping Motor. A Guid to Modern Theory and Practice. Short Run Press Ltd,1991.
7章裂剽.基于单片机的高精度步进电机控制研究.[硕士研究生论文].武汉理工大学.2007
8张志利,黄先祥,刘春桐.步进电机细分驱动控制函数修正方法研究.微电机.2000 5(26)
9郗志刚,周宏甫.运动控制器的发展与现状.电气自动化.2005,27(3):10~14
10姚明武,邹红雨.步进电机工作原理的探讨.技术交流.2008,1
11 Tieluo Lin. Jianxun Zhang. DSP-based microstep controller of stepper motor. Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on Volume 5, 15-19 June 2004 Page (s):4441-4445
12周尊源,S.M.欧文斯.弦波细分步进电机微步驱动器.微特电机,1997 (5):29-37
13 Microstepping step motor driver A3955S and its applications Ma, Lihua Source: Dianzi Yu Xinxi Xuebao, Journal of Electronicsand Information Technology, v 25, n SUPPL., September, 2003
14李存志,张松炜.一种步进电机驱动器及其控制系统的研究.单片机开发与应用.1008-0570(2008)06-2-0125-2
15 Shimamura,Hori, N. Digital redesign of a stepping motor driver[J),Proceedings of the 41st SICE Annual Conference,Volume:2,5-7 Aug.2002,Pages:975-980 vol.2
16 Ogasawara,S.An application of sensorless drive technology to a three-phasehybrid stepping motor drive[J], Power Conversion Conference, 2002. PCC Osaka 2002.Proceedings of the,Volume:3,2-5 April 2002, Pages:964-970 vo1.3.
17 SinghG,Leenhouuts A.C.SPASMTM:integrated task oriented tool for designing step motor system. Proc.of Symp,1995Vo1:24,Iss:12,23-38
18 Kuo B.B.and Wells B.H.Microcomputer Control of Step Motors.CSRL Report No.237,Control Systems Research Laboratory,University of Hlinois. P.17 August 1986
19毕绍新.步进电机驱动控制的应用研究:[硕士研究生论文].天津大学.2003
20刘宝廷,程树康.步进电机及其驱动控制系统.哈尔滨工业大学出版社,1997, 2
21陈学军.步进电机细分驱动控制系统的研究与实现.电机与控制应用.2006, 33(6):48-50
22韩志强,刘晓婷.步进电机PLC控制的研究.轻工机械.2006,2(24)
23张航鲜.新型步进电机驱动电路的研制.硕士研究生论文.西安电子科技大学.2007
24范超毅,范巍.步进电机的选型与计算.机床与液压.2008,5
25姜平.步进电机细分驱动控制函数修正新算法.微电机,2005, 4(38)
26 Zhao Ximei,GuoQingding.H∞Robust Control for Dual Linear Motors Servo System,IEEE,2006
27 Budig,P.K.The Application of Linear Motors.Power Electronics and Motion Control Conference,2000(3),Page(s):1336-1341
28 Junpeng Shao, Lihua Chen, Zhibin Sun. The application of fuzzy control strategy in electro-hydraulic servo system. Mechatronics and Automation.2005 Page(s):2010- 2016 Vol.4
29 Wale,.D.,Polloek.C. Hybrid stepping motors and drives; Power Engineering
30祝凌云,李斌.Pro/ENGINEER运动仿真和有限元分析.人民邮电出版社.2004.3
31 Journal [see also Power Engineer],Volume:15,Issue: 1,Feb 2001,Pages:5-12
32 Zhongbo Electrical I,I,Study on driving system of three-phase hybrid stepping motor[J];Machines and Conference on,Volume:2 Systems,2003.ICEMS 2003. Sixth International Nov.9-1 I,2003,Pages:608-610.
33 Lars Larsson.Micro Step vs.Full Step a Quantitative Competition.TRINAMIC Microchips GmbH,SAE 2003 World Congress,March 2003 Detroit,Ml.USA
34王勇,王伟,杨文涛.步进电机升降速曲线控制系统设计及其应用.控制工程.2008,9:15-17
35 Mamoru Okazaki.New Guidance System For AUTOMATED Navigation Vehicle.Japan,U.S.A Symposium On Flexible Automation.1992,321-329
36 E23 Peter E.Pidcoe,Mark W.Rogers.A Closed-Loop Stepper Motor Waist-Pull System for Inducing Protective Stepping in Humans[J].Journal of Biomechanics,1998,(31):377-381
37 Bojan Stumberger, Anton Hamler, Bozidar Hribemik, Analysis of Iron Loss in Interior Permanent Magnet Synchronous Motor Over a Wide-Speed Range of Constant Output Power Operation, IEEE TRANSACTIONS ON MAGNETICS, VOL.36, N0.4, pp,1846-1849, JULY 2000
38蔡娜达,石恩琪,储茂兵.基于单片机的步进电机S形曲线调速控制.包装工程.2007.7(18)
39田淑航.基于DSP的移动机器人运动控制系统的研究.中南大学.硕士研究生论文.2004
40 Wu Zhiyun etc.the study of subdivision driving method of pulse width modulation of fixed frequency of power stepping.motor. ISFP'99.1999.7.
41 P.Cmosija,B.Kuzmanovic,S.Ajdukovic.Microcomputer Implementation of Optimal Algorithms for Closed-Loop Control of Hybrid Stepper Motor Drives.IEEE Trans. On Industrial Electronics,2000,47(6):1319-1325
42 .陈维山,赵杰.机电系统计算机控制.哈尔滨工业大学出版社.1999.04
43王晓丹.基于单片机的步进电机细分驱动技术的研究.中南大学.硕士论文2008
44王晓明.电动机的单片机控制.北京航空航天大学出版社.2002:164-178
45杨旭强,吴红星,金钊.基于AVR的电动机控制技术.中国电力出版社.2008
2朱从民,黄玉美.双穿梭板密集存取自动化立体仓库专家系统.起重运输机械,2006(12):29-30
3王卫青,朱从民,任小芳.穿梭板系统研究与工程应用.机电一体化,2008(2):90-92
4海老原大树,王益全,刘军.电动机技术使用手册.科学出版社.2006.03
5周明安,朱光忠,宋晓华等.步进电机驱动技术发展及现状.机电工程技术.2005, 34(2):16-17
6 P.P Acarnley.Stepping Motor. A Guid to Modern Theory and Practice. Short Run Press Ltd,1991.
7章裂剽.基于单片机的高精度步进电机控制研究.[硕士研究生论文].武汉理工大学.2007
8张志利,黄先祥,刘春桐.步进电机细分驱动控制函数修正方法研究.微电机.2000 5(26)
9郗志刚,周宏甫.运动控制器的发展与现状.电气自动化.2005,27(3):10~14
10姚明武,邹红雨.步进电机工作原理的探讨.技术交流.2008,1
11 Tieluo Lin. Jianxun Zhang. DSP-based microstep controller of stepper motor. Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on Volume 5, 15-19 June 2004 Page (s):4441-4445
12周尊源,S.M.欧文斯.弦波细分步进电机微步驱动器.微特电机,1997 (5):29-37
13 Microstepping step motor driver A3955S and its applications Ma, Lihua Source: Dianzi Yu Xinxi Xuebao, Journal of Electronicsand Information Technology, v 25, n SUPPL., September, 2003
14李存志,张松炜.一种步进电机驱动器及其控制系统的研究.单片机开发与应用.1008-0570(2008)06-2-0125-2
15 Shimamura,Hori, N. Digital redesign of a stepping motor driver[J),Proceedings of the 41st SICE Annual Conference,Volume:2,5-7 Aug.2002,Pages:975-980 vol.2
16 Ogasawara,S.An application of sensorless drive technology to a three-phasehybrid stepping motor drive[J], Power Conversion Conference, 2002. PCC Osaka 2002.Proceedings of the,Volume:3,2-5 April 2002, Pages:964-970 vo1.3.
17 SinghG,Leenhouuts A.C.SPASMTM:integrated task oriented tool for designing step motor system. Proc.of Symp,1995Vo1:24,Iss:12,23-38
18 Kuo B.B.and Wells B.H.Microcomputer Control of Step Motors.CSRL Report No.237,Control Systems Research Laboratory,University of Hlinois. P.17 August 1986
19毕绍新.步进电机驱动控制的应用研究:[硕士研究生论文].天津大学.2003
20刘宝廷,程树康.步进电机及其驱动控制系统.哈尔滨工业大学出版社,1997, 2
21陈学军.步进电机细分驱动控制系统的研究与实现.电机与控制应用.2006, 33(6):48-50
22韩志强,刘晓婷.步进电机PLC控制的研究.轻工机械.2006,2(24)
23张航鲜.新型步进电机驱动电路的研制.硕士研究生论文.西安电子科技大学.2007
24范超毅,范巍.步进电机的选型与计算.机床与液压.2008,5
25姜平.步进电机细分驱动控制函数修正新算法.微电机,2005, 4(38)
26 Zhao Ximei,GuoQingding.H∞Robust Control for Dual Linear Motors Servo System,IEEE,2006
27 Budig,P.K.The Application of Linear Motors.Power Electronics and Motion Control Conference,2000(3),Page(s):1336-1341
28 Junpeng Shao, Lihua Chen, Zhibin Sun. The application of fuzzy control strategy in electro-hydraulic servo system. Mechatronics and Automation.2005 Page(s):2010- 2016 Vol.4
29 Wale,.D.,Polloek.C. Hybrid stepping motors and drives; Power Engineering
30祝凌云,李斌.Pro/ENGINEER运动仿真和有限元分析.人民邮电出版社.2004.3
31 Journal [see also Power Engineer],Volume:15,Issue: 1,Feb 2001,Pages:5-12
32 Zhongbo Electrical I,I,Study on driving system of three-phase hybrid stepping motor[J];Machines and Conference on,Volume:2 Systems,2003.ICEMS 2003. Sixth International Nov.9-1 I,2003,Pages:608-610.
33 Lars Larsson.Micro Step vs.Full Step a Quantitative Competition.TRINAMIC Microchips GmbH,SAE 2003 World Congress,March 2003 Detroit,Ml.USA
34王勇,王伟,杨文涛.步进电机升降速曲线控制系统设计及其应用.控制工程.2008,9:15-17
35 Mamoru Okazaki.New Guidance System For AUTOMATED Navigation Vehicle.Japan,U.S.A Symposium On Flexible Automation.1992,321-329
36 E23 Peter E.Pidcoe,Mark W.Rogers.A Closed-Loop Stepper Motor Waist-Pull System for Inducing Protective Stepping in Humans[J].Journal of Biomechanics,1998,(31):377-381
37 Bojan Stumberger, Anton Hamler, Bozidar Hribemik, Analysis of Iron Loss in Interior Permanent Magnet Synchronous Motor Over a Wide-Speed Range of Constant Output Power Operation, IEEE TRANSACTIONS ON MAGNETICS, VOL.36, N0.4, pp,1846-1849, JULY 2000
38蔡娜达,石恩琪,储茂兵.基于单片机的步进电机S形曲线调速控制.包装工程.2007.7(18)
39田淑航.基于DSP的移动机器人运动控制系统的研究.中南大学.硕士研究生论文.2004
40 Wu Zhiyun etc.the study of subdivision driving method of pulse width modulation of fixed frequency of power stepping.motor. ISFP'99.1999.7.
41 P.Cmosija,B.Kuzmanovic,S.Ajdukovic.Microcomputer Implementation of Optimal Algorithms for Closed-Loop Control of Hybrid Stepper Motor Drives.IEEE Trans. On Industrial Electronics,2000,47(6):1319-1325
42 .陈维山,赵杰.机电系统计算机控制.哈尔滨工业大学出版社.1999.04
43王晓丹.基于单片机的步进电机细分驱动技术的研究.中南大学.硕士论文2008
44王晓明.电动机的单片机控制.北京航空航天大学出版社.2002:164-178
45杨旭强,吴红星,金钊.基于AVR的电动机控制技术.中国电力出版社.2008
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