【作者】 孙晶；

【导师】 刘桂秋；

【作者基本信息】 沈阳工业大学 ， 工程硕士（专业学位）， 2017， 硕士

【摘要】 堆垛机作为自动化立体仓库中最重要的一部分,其工作效率的高低直接影响整个立体仓库运作的效率。本文通过提高堆垛机伺服控制系统的响应速度,实现堆垛机在最短的时间内完成货物的出、入库作业。所以,本文以立体仓库堆垛机为研究对象具有实际意义,主要包括以下研究内容:首先本文针对堆垛机控制系统的构成和工作原理进行了概述,通过上位机与PLC、变频器的集成控制,实现了堆垛机出、入库的作业流程。根据堆垛机控制系统的控制要求,确定了控制系统的总体设计方案。其次,采用西门子S7-300 PLC作为堆垛机的运动控制器件,SEW变频器作为伺服控制器,选用旋转编码器和条码阅读器分别作为速度环和位置环的反馈信号设备。根据堆垛机控制系统的设计要求,对堆垛机控制系统所需的器件进行了选型,并进行了硬件设计。最后,采用SIMATIC WinCC flexible组态软件对触摸屏界面进行设计,为了实现触摸屏与设备间的实时通讯,对组态变量和PFOFINET的连接进行设计,通过触摸屏界面可监控堆垛机运行状态、位置及报警信息。本文采用STEP7软件对堆垛机进行编程,同时采用SEW变频器专用的调试软件MT-Manager对伺服控制系统进行参数设置和调试,在SEW变频器中采用传统PI控制方法后,引入速度前馈控制方法和加速度前馈控制方法,运用调试软件MT-Manager进行实验,结果证明在变频器中引入速度前馈控制方法和加速度前馈控制方法后,堆垛机伺服控制系统的控制精度更高,响应速度更快。更多还原

【Abstract】 Stacker as a core part of the automated warehouse,the level of efficiency of its work directly affects the speed of the entire warehouse operation.The paper improves response speed of the stacker servo control system to realize that stacker finish storage and delivery operation in the shortest time.Therefore,it is significant that this paper takes the stacker in automatic storage warehouse system as the research object,and the mainly research contents include:First of all,this paper summarizes the composition and working principle of the stacker control system,realizes storage and delivery operation of stacker by using upper computer,PLC and frequency converter as an integrated control system,and determines overall design of the stacker control system according to its control requirement.Secondly,the Siemens S7-300 PLC is used as the logic control device of the stacker,the SEW frequency converter is used as the servo controller,and the rotary encoder and the bar code reader are used as the feedback signal device of the speed loop and the position loop respectively.According to the request of the stacker control system,this paper takes the selection and configuration of the devices and hardware designs.Finally,the SIMATIC WinCC flexible configuration software is used to design the Human Machine Interface(HMI).In order to realize the real-time communication between HMI and equipments,the variable configuration and PROFINET connection is designed,to monitor the stacker running status,position and alarm information.In this paper,STEP7 software is used for programming the stacker.MT-Manager,which is SEW frequency converter dedicated software,is also used for parameter setting and debugging of the servo control system.With using the traditional PI control method,speed feed-forward control method and acceleration feed-forward control method are also adopted in SEW frequency converter.The experimental results from MT-Manager software show that stacker servo control system comes with higher control accuracy and faster response performance after introducing the speed feed-forward control method and the acceleration feed-forward control method in the frequency converter.更多还原