【摘要】：倉儲(chǔ)管理是一門集優(yōu)化調(diào)度、自動(dòng)化控制、物流管理等多門學(xué)科為一體的綜合類學(xué)科。而自動(dòng)化立體倉庫作為倉儲(chǔ)管理的一個(gè)重要節(jié)點(diǎn),除了對(duì)貨物進(jìn)行存儲(chǔ)外,它還是連接供應(yīng)商和需求商的中轉(zhuǎn)站。所以對(duì)自動(dòng)化立體倉庫的優(yōu)化和控制,不僅降低了貨物出入庫的時(shí)間,節(jié)省了人力物力,而且從整個(gè)倉儲(chǔ)管理上講也大大降低了貨物的作業(yè)循環(huán)時(shí)間。對(duì)立體倉庫的優(yōu)化應(yīng)從堆垛機(jī)揀選路徑和堆垛機(jī)控制系統(tǒng)入手�？紤]到工程實(shí)際中可能影響立體倉庫作業(yè)的種種問題,并在此基礎(chǔ)上介紹了一種能夠更靈活應(yīng)對(duì)一些突發(fā)情況的倉儲(chǔ)模式——長縱深式立體倉庫。該倉庫的特點(diǎn)是貨架的縱深較長,而且在一條巷道上配有兩臺(tái)堆垛機(jī)。首先,根據(jù)長縱深式立體倉庫的特點(diǎn),確定了倉庫的整體布局。即確定兩堆垛機(jī)出入庫站臺(tái)的位置,以及兩堆垛機(jī)在進(jìn)行貨物出入庫作業(yè)時(shí)的“U”型路徑作業(yè)模式。此外為了避免一條巷道內(nèi)的兩臺(tái)堆垛機(jī)發(fā)生碰撞,采用區(qū)域劃分的方法將多車場(chǎng)路由問題轉(zhuǎn)化為了車場(chǎng)路由問題。其次,對(duì)堆垛機(jī)揀選路徑的終點(diǎn)——倉庫的貨位點(diǎn),進(jìn)行了優(yōu)化分析。得出倉庫貨位優(yōu)化問題為多目標(biāo)優(yōu)化問題,并運(yùn)用粒子群算法對(duì)該問題進(jìn)行求解,實(shí)現(xiàn)了倉庫貨位的合理分布。而為了確定堆垛機(jī)揀選路徑的起點(diǎn),討論了堆垛機(jī)的停留策略。通過分析計(jì)算,確定以堆垛機(jī)出入庫站臺(tái)為堆垛機(jī)的停留位置。最后,建立堆垛機(jī)揀選路徑的數(shù)學(xué)模型,運(yùn)用遺傳學(xué)算法對(duì)堆垛機(jī)揀選路徑進(jìn)行優(yōu)化,并通過MATLAB軟件對(duì)優(yōu)化模型進(jìn)行實(shí)例仿真,得出對(duì)堆垛機(jī)揀選路徑優(yōu)化有效的結(jié)論。最后,對(duì)堆垛機(jī)控制系統(tǒng)進(jìn)行設(shè)計(jì)。通過控制系統(tǒng)的設(shè)計(jì),實(shí)現(xiàn)了堆垛機(jī)能夠沿最優(yōu)路徑運(yùn)動(dòng)的目的。為了實(shí)現(xiàn)控制的可靠性,并兼顧經(jīng)濟(jì)性原則,選擇了以西門子S7-200為核心的控制系統(tǒng)。PLC通過其擴(kuò)展的EM253PWM/PTO脈沖輸出模塊對(duì)外發(fā)射脈沖,脈沖經(jīng)伺服驅(qū)動(dòng)器傳入到伺服電機(jī),對(duì)電機(jī)的轉(zhuǎn)角進(jìn)行控制,從而實(shí)現(xiàn)了堆垛機(jī)在空間內(nèi)的運(yùn)動(dòng)。此外為了防止堆垛機(jī)的碰撞,控制系統(tǒng)中設(shè)置了限位開關(guān);為了更有效地對(duì)貨物信息進(jìn)行讀取,規(guī)劃貨物的貨位,設(shè)置了條碼系統(tǒng);為了對(duì)堆垛機(jī)的位置進(jìn)行精確的控制設(shè)置了水平、垂直認(rèn)址系統(tǒng);設(shè)置的監(jiān)控系統(tǒng)可以實(shí)時(shí)對(duì)系統(tǒng)的運(yùn)動(dòng)進(jìn)行監(jiān)控,并且還可以對(duì)故障進(jìn)行排查。
[Abstract]:Warehousing management is a multi-disciplinary integrated subject, such as optimal scheduling, automatic control, logistics management and so on. As an important node of warehouse management, automated warehouse not only stores goods, but also connects suppliers and requestors. Therefore, the optimization and control of the automated warehouse not only reduces the time of goods entering and leaving the warehouse, saves manpower and material resources, but also greatly reduces the working cycle time of the goods from the whole storage management. The optimization of the three-dimensional warehouse should start with the selection path of the stacker and the control system of the stacker. Considering all kinds of problems which may affect the operation of stereoscopic warehouse in engineering practice, this paper introduces a kind of storage mode which can deal with some unexpected situations more flexibly, that is, long-depth warehouse. The warehouse is characterized by a long shelf depth and two stacker cranes in one roadway. First of all, according to the characteristics of the long-depth warehouse, the overall layout of the warehouse is determined. That is to say, to determine the position of the two stacker platforms and the "U" path operation mode of the two stacker cranes in the operation of the cargo entry and exit depot. In addition, in order to avoid collision between two stacker cranes in a roadway, the multi-yard routing problem is transformed into a depot routing problem by using the method of region division. Secondly, this paper optimizes and analyzes the terminal point of the stacker selection path-the warehouse's cargo point, which is the end point of the stacker's selection path. It is concluded that the warehouse space optimization problem is a multi-objective optimization problem, and the particle swarm optimization algorithm is used to solve the problem, and the reasonable distribution of the warehouse cargo space is realized. In order to determine the starting point of the pick-up path of the stacker, the residence strategy of the stacker is discussed. Through analysis and calculation, the resident position of the stacker is determined by taking the platform of stacker in and out of the stacker as the stacker. Finally, the mathematical model of the selection path of stacker crane is established, and the genetic algorithm is used to optimize the selection path of the stacker crane. Finally, the optimization model is simulated by MATLAB software, and the conclusion is drawn that the selection path of the stacking crane is optimized effectively. Finally, the control system of stacker is designed. Through the design of the control system, the stacker can move along the optimal path. In order to realize the reliability of the control and take into account the principle of economy, the control system based on Siemens S7x200 is selected. The PLC transmits the pulse through its extended EM253PWM/PTO pulse output module. The pulse is transmitted to the servo motor through the servo drive, and the angle of the motor is controlled, thus realizing the movement of the stacker in space. In addition, in order to prevent the collision of stacker, the limit switch is set in the control system, and the barcode system is set up in order to read the cargo information more effectively and plan the cargo position. In order to accurately control the position of the stacker, the horizontal and vertical addressing system is set up, and the monitoring system can monitor the movement of the system in real time, and can also detect the faults.
【學(xué)位授予單位】：蘭州理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TH692.3;TH246

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