基于双闭环的立体仓库堆垛机高精度定位

Based on Dual-loop High-precision Positioning for Warehouse Stackers

摘要:

立体仓库堆垛机定位控制中由于测量产生的误差，如编码器存在累积误差的缺陷，激光测距仪因震荡等不确定因素产生误差，严重影响堆垛机的定位精度。针对堆垛机此类定位控制精度问题，采用组合定位的控制方法，即双闭环控制方法。粗定位与精确定位结合使用，在低速段用精定位反馈，提高定位精度。最后对堆垛机的定位误差进行了分析，结果满足控制系统的要求。实验证明，该方法很好的实现了立库堆垛机运行的精确定位问题，定位精度在3㎜范围内，符合定位要求。

Abstract:

For automated warehouse stacker positioning control problems, the new integrated positioning control method was adopted, namely two-position closed-loop control methods. The method of coarse positioning and precise positioning in combination avoid the defects of accumulation of errors of the encoder and the errors of laser range finder caused by shock and other uncertain reasons, and can automatically correct the position of stacker fork and cargo space. Analysis of braking force, we obtained the relationship among acceleration rate, the speed and time during braking. It can provide a reference for the stacker control parameters.