本文關鍵詞：立體倉庫中智能穿梭車的控制系統(tǒng)設計　出處：《北京郵電大學》2015年碩士論文　論文類型：學位論文

  更多相關文章： 穿梭車 PLC 模糊PID控制電機控制

【摘要】：隨著社會科技的發(fā)展,物流行業(yè)的發(fā)展越來越迅速,智能穿梭車在立體倉庫中扮演著重要角色,它大大提高了立體倉庫的倉儲庫存并節(jié)約成本。智能穿梭車的控制系統(tǒng)主要依靠可編程邏輯控制器,通過可編程聯(lián)機控制器連接多種傳感器,完成對所需信息的采集,控制穿梭車完成巷道的作業(yè),具有靈活、安全、便捷、快速等特點。設計穿梭車在倉庫中的使用模式,根據(jù)模式對PLC控制系統(tǒng)進行設計。本文所設計控制系統(tǒng)主要依附于PLC控制技術,從PLC控制系統(tǒng)設計的角度,完成了智能穿梭車的控制系統(tǒng)設計。 本文從PLC的控制系統(tǒng)設計的一般方法入手,重點分析了PLC控制系統(tǒng)硬件設計和軟件設計方法和步驟。根據(jù)智能穿梭車的功能要求,設計了基于PLC控制系統(tǒng)的流程圖。選取了適用于立體倉庫智能穿梭車的直流電機,對其進行數(shù)學模型建立,根據(jù)所選直流電機的具體參數(shù),設計了合適的三閉環(huán)電機調(diào)速系統(tǒng)。結合模糊PID對其進行速度控制并利用Matlab進行仿真驗證,得出合適的PID參數(shù)。完成選取智能穿梭車在立體倉庫中運行所需要的外界信息的采集傳感器種類使穿梭車更加智能化。
[Abstract]:With the development of social science and technology, the development of logistics industry is more and more rapid, intelligent shuttle vehicle plays an important role in the three-dimensional warehouse. The intelligent shuttle vehicle control system mainly depends on the programmable logic controller and connects many kinds of sensors through the programmable on-line controller. Complete the collection of needed information, control the shuttle vehicle to complete the roadway operation, with flexible, safe, convenient, fast and other characteristics. Design the shuttle vehicle in the warehouse use mode. The PLC control system is designed according to the mode. The control system is mainly attached to the PLC control technology. From the point of view of the PLC control system design, the control system design of the intelligent shuttle vehicle is completed. Starting with the general method of PLC control system design, this paper analyzes the hardware design and software design method and steps of PLC control system, according to the function requirements of intelligent shuttle vehicle. The flow chart of the control system based on PLC is designed. The DC motor which is suitable for the intelligent shuttle vehicle in three-dimensional warehouse is selected, and the mathematical model is established, according to the specific parameters of the selected DC motor. A suitable three-loop motor speed regulation system is designed, which is controlled by fuzzy PID and simulated by Matlab. The appropriate PID parameters are obtained and the types of sensors that are needed for the intelligent shuttle vehicle to run in the three-dimensional warehouse are selected to make the shuttle vehicle more intelligent.
【學位授予單位】：北京郵電大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：TP273

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本文編號：1419808