【作者】 杨泽玉；

【导师】 吴金波；

【作者基本信息】 华中科技大学 ， 轮机工程， 2019， 硕士

【摘要】 船用自动化仓储是指由高层立体货架、移载装置、转运装置及周边设备组成的密集式自动化仓储系统,对于提高船用空间的利用率具有重要的意义。由于立体仓库的大跨度,通常需要大行程的移载装置与货架精确对接。同步带驱动的柔性定位系统由于能很好地顺应船体变形而在船用仓储领域获得广泛关注。但柔性定位系统由于受到船舶摇晃的影响,其定位精度会变差。本文从一个实际的船用仓储项目出发,构造了一个基于同步带驱动的船用柔性定位系统,建立了其数学模型,对其控制策略进行研究,并通过仿真和实验对所设计的控制器进行验证。具体的研究内容如下:首先,分析了船用仓储的工作原理,并介绍了其主要运动机构。针对同步带驱动的柔性定位系统的主要机械部件进行了设计选型,并构造了以倍福嵌入式控制器为核心,基于EtherCAT现场总线通讯的控制系统。其次,对柔性定位系统各主要组成部件进行分析,基于集总参数法建立了系统的数学模型,并对模型进行了一定的简化。随后,引入了多闭环的控制思想,逐环设计了包括电流内环、速度中间环及位置外环的三闭环PID控制器。将速度中间环简化为一二阶振荡模型,利用系统辨识的方法得到其模型参数,并通过实验验证了其准确性。针对位置环,对比分析了以电机角位移为反馈的半闭环控制结构和以移载机实际位置为反馈的全闭环控制结构的优劣。分析结果表明在横摇干扰下,全闭环的控制结构有更高的定位精度。并通过MATLAB仿真验证了本文所提方法的有效性。最后,搭建了船用仓储的实验平台,编写了控制程序和人机界面,并完成了调试工作。柔性定位系统的位置跟踪控制实验结果表明:本文所设计的三闭环控制器在无横摇干扰下的跟踪定位精度是满足设计要求的,在横摇干扰下的跟踪误差也与理论分析和仿真结果是近似一致的。更多还原

【Abstract】 Marine storage is composed of high-rise shelves,transfer devices and peripheral equipment,which is of great significance for improving the utilization of marine space.Due to the large span of the warehouse,the transfer device requiring a large stroke is docked with the shelf,and for the large-span hull structure,the deformation will become non-negligible.The timing belt driven flexible positioning system has gained wide attention in the field of marine storage due to its good compliance with hull deformation.However,due to the impact of the ship’s shaking,the positioning accuracy of the flexible positioning system will be worse.In this paper,based on the application of marine storage,a flexible linear positioning servo system based on timing belt drive is constructed.The mathematical model is established,its control strategy is studied,and the designed controller is verified by simulation and experiment.The specific research contents are as follows:Firstly,it analyzes the working principle of marine storage and introduces its main moving mechanism.Secondly,a flexible positioning system driven by timing belt is constructed for the horizontal motion mechanism.The mechanical system is designed,and the control system based on Beckhoff embedded controller is constructed based on EtherCAT fieldbus communication.Secondly,the main components of the flexible positioning system are analyzed,and the mathematical model of the system is established based on the lumped parameter method.For the tensioning wheel,the moment of inertia is converted to the driving wheel and the influence on the system is ignored.The model is simplified.Thirdly,a multi-closed loop control idea was introduced,and a three-closed loop PID controller of current inner loop,speed intermediate loop and position outer loop is designed on a ring-by-loop basis.The velocity intermediate loop is simplified into a second-order oscillation model.The model parameters are obtained by the system identification method,and the accuracy is verified by experiments.For the position loop,the semi-closed loop control structure with motor angular displacement as feedback and the full closed loop control structure with feedback of the actual position of the transfer machine are designed.The advantages and disadvantages of the two are analyzed by theoretical analysis and simulation.Finally,the experimental platform for marine storage is built,the control program and man-machine interface are developed,and the debugging work is completed.The experimental results show that the tracking accuracy of the three closed-loop controller designed in this paper without roll disturbance is satisfied by the design requirements.The tracking error under roll disturbance is also consistent with the theoretical analysis and simulation results.更多还原