CN100555132C - A kind of method that makes accurate fast location of piler and stepless speed regulation - Google Patents
A kind of method that makes accurate fast location of piler and stepless speed regulation Download PDFInfo
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- CN100555132C CN100555132C CNB2007100453976A CN200710045397A CN100555132C CN 100555132 C CN100555132 C CN 100555132C CN B2007100453976 A CNB2007100453976 A CN B2007100453976A CN 200710045397 A CN200710045397 A CN 200710045397A CN 100555132 C CN100555132 C CN 100555132C
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Abstract
The present invention relates to a kind of method that makes accurate fast location of piler and stepless speed regulation, it is characterized in that, adopt laser ranging and positioning control technology, realize definitely recognizing the location mode, the location of piler and the dirigibility of accuracy of detection, travelling speed, counting reliability, operation stability, speed adjusting performance and addressing have been improved, the bearing accuracy of piler is reached ± 3mm, travelling speed reaches 200-280m/min; Use the stepless speed regulation automatic control technology, optimize the speed governing curve, improve starting and braking ability, improve impact and noise in the high-speed cruising, guarantee the key parameters such as bearing accuracy, stationarity and motion noise of piler.Piler is the critical equipment of material handling in the automatic stereowarehouse, is widely used in fields such as machinery, food, tobacco, electronics, automobile, home-delivery center, medicine, electrical equipment and storage.
Description
Technical field
The present invention relates to a kind of method that makes accurate fast location of piler and stepless speed regulation, relate in particular to a kind of method that automatic stereowarehouse makes fast precisely location and laser ranging of piler, stepless speed regulation that is used for, be widely used in fields such as machinery, food, tobacco, electronics, automobile, home-delivery center, medicine, electrical equipment and storage, belong to piler Electrical Control Technology field.
Background technology
As shown in Figure 1, 2, be former automatic stereowarehouse structural representation, described automatic stereowarehouse by three-dimensional storehouse shelf 1, piler 2, container 3, rail 4, go out to put in storage platform 5, conveyor 6 is formed, in automatic stereowarehouse, be provided with several rows of three-dimensional storehouse shelf 1, each is arranged three-dimensional storehouse shelf 1 and is provided with container 3 one by one, between the three-dimensional storehouse of per two rows shelf 1, be provided with ground rail 4, discrepancy end at ground rail 4 is provided with out warehouse-in platform 5 and conveyor 6, be provided with the piler 2 that can travel back and forth on ground rail 4, its workflow is:
Input work flow process: receive warehouse-in job command → go out to put in storage platform 5 → get container 3 → piler 2 → three-dimensional storehouse shelf 1 → stock case 3 → return out warehouse-in platform 5 → input work to finish standby;
Outbound work flow: receive outbound job command → go destination address → three-dimensional storehouse shelf 1 → get container 3 → piler 2 → go out to put in storage platform 5 → stock case 3 → conveyor 6 → go out to put in storage platform 5 → finish outbound and reach the standby of warehouse-in platform;
Piler is core equipment and the main haulage equipment in the automatic stereowarehouse, its main application is the operation of shuttling in the tunnel of storied 3-D shelf, to be positioned at the automatic access of goods of access adit, and the goods yard of putting into appointment is an input work, perhaps taking out goods in the goods yard, to be transported to access adit be the outbound operation, perhaps goods is put into promptly to make an inventory of goods in a warehouse another goods yard from a goods yard displacement and move the goods operation, be widely used in supply chain logistics, accurately storage, the quick dispensing.
At present, in the piler positioning control, adopt the mode that reads the goods yard detection lug to recognize location and counting, this mode exists many problems and shortcoming, this mode of one belongs to the discrete location of recognizing relatively, bearing accuracy is lower, promptly bearing accuracy 〉=± 10mm, in high-speed cruising, very easily occur to leak situations such as meter, mistake meter, cause counting and location and inaccurate, it is unreliable to move; Its two restriction that is subjected to count detection components accuracy and sensitivity has limited the raising of the travelling speed of piler, is travelling speed≤100-120m/min, and travelling speed one height will cause miscount; Its three this locator meams can only be that unit carries out throw-over control with goods compartment distance when the throw-over of location, because the goods compartment is apart from the discreteness of throw-over control, cause piler operation to have bigger impact, operation stability is poor, bearing accuracy is low, the operation noise is big, exchange shortcomings such as device damage is big, these disadvantages affect key parameters such as counting reliability, bearing accuracy, travelling speed and the efficient of piler, starting and the stationarity of braking, motion noise.
As shown in Figure 3, be the multistep speed regulation speed curve diagram, in Fig. 3, have the 0th column address promptly to go out to put in storage platform position (L
0), (L1～Lx), N column address promptly are assumed to be operation purpose column position Dest (L in the 1st row address ,～the X row goods yard
N), the X column address is the current column position Current (L that piler is stopped
X), minimum speed value (Vmin), maximum speed value (Vmax), a N different operational process velocity amplitude (V
1～V
N), operation dynamic speed value (Vx), apart from destination displacement difference (Δ L), be listed as poor (Δ n), column pitch (Δ L0), travelling speed value (Vrpm) parameter, when the employing detection lug is counted and is located, its counting principle is at each goods lattice of stereo storage rack a detection lug to be installed, recognizing the location device information of carrying out by the photoelectricity on the piler reads, it is every when piler shuttles operation in the tunnel through detection lug hour counter+1 or-1, be listed as poor (Δ n) also corresponding+1 or-1, when row poor (Δ n) represent when being 0 that oneself reaches the destination, its displacement difference (Δ L=Δ n* Δ L0) is that poor by being listed as (Δ n) is multiplied by column pitch (Δ L0) and tries to achieve; In operational process, count signal and row difference disperse, the control signal that is collected when that is to say speed regulating control also disperses, and must so just determine its rate curve also to disperse in that just variable-ratio of count signal place is arranged in the deceleration position fixing process; Must carry out the segmentation throw-over in advance in order to reach the steady parking of low speed, but and only collect just throw-over of count signal at the detection lug place, so just formed the speed governing curve of the so multistage segmentation of Fig. 3, its speed along Vmax → Vn → ... the process classification throw-over of → V3 → V2 → V1 → Vmin also stops at the purpose column address, because its throw-over is discrete multistage, must cause repeatedly the throw-over step and produce to impact, this will be to the piler of big inertia high-speed cruising at its operation stability, bearing accuracy, the operation noise, exchange aspects such as being equipped with damage very big influence is arranged.
Summary of the invention
The purpose of this invention is to provide a kind of method that makes accurate fast location of piler and stepless speed regulation, it can not only solve counting and locating accuracy and integrity problem effectively, and can carry out automatic speed regulation control easily, and optimize starting and braking ability, promote the complete machine performance of piler.
For realizing above purpose, technical scheme of the present invention provides a kind of method that makes accurate fast location of piler and stepless speed regulation, it is characterized in that, use laser ranging and positioning control technology, the realization piler is definitely recognized the location, continuous stepless speed regulation when realizing the piler high-speed cruising, its method is:
The first step. airborne laser range finder is installed in the rear end of piler, infrared communication device A is installed in the front end of piler, the laser-bounce plate is installed in the inbound port that of ground rail, end at the ground rail is installed infrared communication device B and termination safety collision block, infrared communication device A is corresponding in line with infrared communication device B, and infrared communication device B is connected with the upper monitoring machine;
Second step. the PLC Programmable Logic Controller in the electrical control cubicles on airborne laser range finder and the piler is connected, and the PLC Programmable Logic Controller also is connected with the level run frequency converter in addition, and the PLC Programmable Logic Controller passes through the DP twisted-pair feeder and is connected with infrared communication device A; The data communication of PLC Programmable Logic Controller and upper monitoring machine is by infrared communication device A, undertaken by infrared communication device B passage;
The 3rd step. carry out PLC program composition with PLC statement list language, and operate on the PLC Programmable Logic Controller, whole positioning distance measuring and speed governing are controlled automatically;
3.1. carry out the range finding and the location of piler:
3.1.1. when the self check of PLC power-up initializing is tested oneself, the specific address data that it goes out to put in storage platform and each goods lattice are read, and are saved in the purpose column address (L of PLC inside automatically by airborne laser range finder
0-L
N) data block (DB0-DBN) in, the modification setting of carrying out the destination address tables of data is solidified with preserving, and forms an address (L who opens one's eyes wide
0-L
N) tables of data relatively uses for piler operation location;
3.1.2 the operation process of piler is:
When piler receives the job instruction that upper monitoring machine or guidance panel touch-screen assign, the PLC Programmable Logic Controller is accepted the instruction and the operation address of packing into, sets the operation destination address data (L corresponding with modifying target pointed corresponding target address date table
N), read the current actual position value (L of piler by airborne laser range finder simultaneously
X=ID0), collect behind these data messages in that PLC is inner and calculate automatically and handle, by formula (Δ L=L
X-L
N) can calculate current location (L
X=ID0) with destination address (L
N) displacement difference Δ L, wherein destination address data (L
N) be changeless, by formula (Δ L=L
X-L
N) as can be known displacement difference Δ L be along with current actual position value (L
X=ID0) continually varying;
3.2. realize the stepless speed regulation of piler:
Automatically calculate its travelling speed value (Vx) by the PLC internal processes,
Its speed control computing function is as follows:
When result of calculation Vx＞Vmax, get Vrpm=Vmax (constant);
When result of calculation Vmin≤Δ pls≤Δ max, get Vrpm=Vx (continuous variable);
When result of calculation Vx＜Vmin, get Vrpm=Vmin (constant);
In the formula: Vx---piler computing velocity (rpm) Vrpm---travelling speed value (rev/min)
Δ L---piler operation displacement difference (pls) Ax---piler level run acceleration (m/s
2)
The high low speed correction factor of Bx---unit conversion factor Cx, Dx---(rpm)
Described piler level run acceleration A x is 2.21m/s
2, unit conversion factor Bx is 4.63, high low speed correction factor Cx is 1545, Dx is 0.107.
Because the travelling speed value (Vx) of piler is to be calculated by displacement difference Δ L, so travelling speed value (Vx) is continually varying along with the variation of displacement difference Δ L, so just can control the travelling speed of piler continuously and carry out throw-over by Automatic Program, thus the stepless change of realization piler.
The present invention adopts laser ranging and positioning control technology, stepless speed regulation automatic control technology, adopt laser ranging to realize definitely recognizing the location mode, make that each address, goods yard all is unique with respect to the reference position of reflector, improve its location and accuracy of detection, counting and reliability of positioning, the present invention is definitely recognized the location control mode and is substituted the discrete location control mode of recognizing relatively by continuous, not only improve the dirigibility of addressing, be easy to the setting that realizes the goods lattice, goes out to put in storage location, tableland data and travelling speed value; Be easy to realize that data relatively, automatically count, automatically throw-over and precisely location, make its bearing accuracy can reach 3mm, travelling speed reaches 200-280m/min, for realizing that high-speed cruising provides prerequisite and gordian technique, gather the data that the location is definitely recognized in laser ranging, use the stepless speed regulation automatic control technology, closed-loop speed control in conjunction with vector frequency converter constitutes complete speed control and governing system automatically, optimize the speed governing curve, continuously smooth speed governing when realizing the piler high-speed cruising, the starting and the braking ability that make piler have quick and stable are guaranteed the bearing accuracy of piler, parameter such as stationarity and motion noise.
Advantage of the present invention is to have improved the reliability of recognizing location and location, optimizes the speed governing curve, has improved impact and noise in the complete machine high-speed cruising, has improved the starting and the braking ability of piler, has improved the dirigibility of control.
Description of drawings
Fig. 1 is former automatic stereowarehouse structural representation;
Fig. 2 is former automatic stereowarehouse vertical view;
Fig. 3 is the multistep speed regulation speed curve diagram;
Fig. 4 is an automatic stereowarehouse structural representation of the present invention;
Fig. 5 is the piler structural representation;
Fig. 6 is piler electrical control DP bus line connecting structure figure;
Fig. 7 is a program flow diagram;
Fig. 8 is laser ranging and stepless speed regulation curve map.
Embodiment
The invention will be further described below in conjunction with drawings and Examples.
Embodiment
As shown in Figure 4, be automatic stereowarehouse structural representation of the present invention, described automatic stereowarehouse is by three-dimensional storehouse shelf 1, piler 2, container 3, ground rail 4, go out to put in storage platform 5, conveyor 6, airborne laser range finder 7, laser-bounce plate 8, infrared communication device A 9, infrared communication device B 10, upper monitoring machine 11 and termination safety collision block 12 are formed, airborne laser range finder 7 is installed in the rear end of piler 2, infrared communication device A 9 is installed in the front end of piler 2, laser-bounce plate 8 is installed in the inbound port that of ground rail 4, end at ground rail 4 is installed infrared communication device B 10 and termination safety collision block 12, infrared communication device A9 is corresponding in line with infrared communication device B10, and infrared communication device B10 is connected with upper monitoring machine 11.
As shown in Figure 5, be the piler structural representation, described piler 2 is original physical construction, it is by piler column 13, piler loading platform 14, electrical control cubicles 15, airborne laser range finder 7, piler front walking wheel 16, piler bottom girder 17, piler rear walking wheel 18, infrared communication device A9 forms, piler column 13 is located on the piler bottom girder 17, piler column 13 is provided with piler loading platform 14 moving up and down, piler bottom girder 17 upper ends are provided with electrical control cubicles 15, the lower end is provided with piler front walking wheel 16 and piler rear walking wheel 18, the high-speed cruising that piler 2 shuttles on the rail 4 in the tunnel in three-dimensional storehouse, the relative distance of measuring piler 2 and laser-bounce plate 8 by airborne laser range finder 7 realizes range finding, the PLC Programmable Logic Controller reads the length value that airborne laser range finder is surveyed, and data are used to locate comparison and speed regulating control.
Fig. 6 is piler electrical control DP bus line connecting structure figure, described electrical control cubicles 15 is an original structure, in be provided with PLC Programmable Logic Controller 19, level run frequency converter 20, pallet fork operation frequency converter 21 and lifting operation frequency converter 22 and guidance panel touch-screen 23, airborne laser range finder 7 is connected with level run frequency converter 20 with PLC Programmable Logic Controller 19 respectively by DP twisted-pair feeder 24, level run frequency converter 20 is connected with lifting operation frequency converter 21 by DP twisted-pair feeder 24, lifting operation frequency converter 21 is connected with pallet fork operation frequency converter 22 by DP twisted-pair feeder 24, pallet fork operation frequency converter 22 is connected with guidance panel touch-screen 23 by DP twisted-pair feeder 24, and PLC Programmable Logic Controller 19 is connected with infrared communication device A9 by DP twisted-pair feeder 24; PLC Programmable Logic Controller 19 is piler kernel control chips, be message exchange and processing enter, be used to accept the job instruction of upper monitoring machine 11 or guidance panel touch-screen 23, with accept the processing of peripheral information by internal processes, and output associative operation come the operation of piler total system is controlled comprehensively; Upper monitoring machine 11 is undertaken by infrared communication device 9,10 information channels with the data message of PLC Programmable Logic Controller 19, the driving of three directions of piler 2 is to come command and control by PLC Programmable Logic Controller 19, and PLC Programmable Logic Controller 19 constantly carries out message exchange and processing with level run frequency converter 20, pallet fork operation frequency converter 22, lifting operation frequency converter 21; Obtaining of piler 2 dynamic ranging datas in service is to realize by the DP communication of PLC controller 19 with airborne laser range finder 7, PLC controller 19 reads the length value data (Lx=ID0) that airborne laser range finder is surveyed, by the PLC internal processes links such as the processing of ranging data, position comparison, speed regulating control are dynamically controlled the piler even running, realize that range finding and location, dynamic speed adjustment control.
As shown in Figure 7, be program flow diagram, carry out PLC program composition, operate on the PLC Programmable Logic Controller 19, whole positioning distance measuring and speed governing are controlled automatically with PLC statement list language.
As shown in Figure 8, be laser ranging and speed governing curve map, laser ranging and location, stepless speed regulation implementation procedure be described by this figure.It is laser ranging reflecting plate 8 position (L that base address is arranged in Fig. 5
J), the 0th column address promptly goes out to put in storage platform 5 position (L
0), the 1st row～the X row goods yard address (L
1～Lx), N column address (being assumed to be operation purpose column position Dest among the figure) (L
N), X column address (be assumed to be among the figure piler stop current column position Current) (L
X), operation dynamic speed value (Vx), minimum speed value (Vmin), maximum speed value (Vmax), a N different operational process velocity amplitude (V
1～V
N), apart from destination displacement difference (unit is count pulse pls) (Δ L), travelling speed value (rev/min) parameter such as (Vrpm), the high-speed cruising that piler 2 shuttles in the tunnel in three-dimensional storehouse is by measuring piler 2 current column position Current (L
X) and laser ranging reflecting plate 8 (L
J) between distance, can obtain the current actual position value (L of piler 2
X=ID0), PLC Programmable Logic Controller 19 reads current actual position value (L by the DP fieldbus
X=ID0) and be saved in the internal data table, use for program calculating, comparison, speed governing.
It is all own fixing with respect to the position of laser ranging reflector 8 that automated three-dimensional storehouse shelf install and fix each goods yard, back, when the self check of PLC power-up initializing is tested oneself, the specific address data that it goes out to put in storage platform and each goods lattice are read, and be saved in the purpose column address (L of PLC inside automatically by airborne laser range finder
0-L
N) data block (DB0-DBN) in, and carry out the modification setting of destination address tables of data and preserve to solidify, form an address (L who opens one's eyes wide
0-L
N) tables of data uses for the piler operating ratio; The operation process of piler is: when piler receives upper monitoring machine or guidance panel touch-screen job instruction, PLC accepts the instruction and the operation address of packing into, sets the operation destination address data (L corresponding with modifying target pointed corresponding target address date table
N), read the current actual position value (L of piler by airborne laser range finder simultaneously
X=ID0), collect behind these data messages in that PLC is inner and calculate automatically and handle, by formula (Δ L=L
X-L
N) can calculate current location (L
X=ID0) with destination address (L
N) displacement difference Δ L, wherein destination address data (L
N) be changeless, by formula (Δ L=L
X-L
N) as can be known displacement difference Δ L be along with current actual position value (L
X=ID0) continually varying, automatically calculate its travelling speed value (Vx) by the PLC internal processes, because the travelling speed value (Vx) of piler is to be calculated by displacement difference Δ L, so travelling speed value (Vx) is continually varying along with the variation of displacement difference, so just can control the travelling speed of piler continuously and carry out throw-over by Automatic Program, thereby realize the stepless change of piler, guarantee accurate location and the quick and stable starting and the braking ability of piler.
Its speed control computing function is as follows:
When result of calculation Vx＞Vmax, get Vrpm=Vmax (constant);
When result of calculation Vmin≤Δ pls≤Δ max, get Vrpm=Vx (continuous variable);
When result of calculation Vx＜Vmin, get Vrpm=Vmin (constant);
In the formula: Vx---piler computing velocity (rpm) Vrpm---travelling speed value (rev/min)
Δ L---piler operation displacement difference (pls) Ax---piler level run acceleration (m/s
2) the high low speed correction factor of Bx---unit conversion factor Cx, Dx---(rpm)
The highest displacement difference corresponding during with minimum speed of Δ max/ Δ min---
Vmax/Vmin---highest running speed and minimum operation speed
Vmax is the maximal rate of piler operation, because of being subjected to the restriction of each side such as piler mechanism, motor performance, power, load, a maximum speed limit is arranged.Vmin is the minimum speed of piler operation, is subjected to the influence of load and drawing torque etc., and a minimum speed restriction is arranged, and speed is littler just can't to drag and operate as normal.
Instance analysis:
For example piler current be parked in the 5th row (L
5) standby, requiring to carry out an outbound operation, piler is received the outbound job instruction of upper monitoring machine, and job command is to remove the 25th row (L from the current address
25) outbound gets goods, get goods and finish and will turn back to out warehouse-in platform (L
0) unloading, the outbound operation of unloading back is finished and standby, are its operational process speed and relevant parameter calculated in examination?
Be calculated as follows: L
J. base address (laser ranging reflecting plate position) L
0. the 0th column address (going out to put in storage the platform position)
L
1～Lx. the 1st row～the X row goods yard address L
N. N column address (being assumed to be operation purpose column position Dest among the figure) L
X. X column address (being assumed to be the current column position Current that piler is stopped among the figure) Vx. operation dynamic speed value Vmin. minimum speed value Vmax. maximum speed value V
1～Vn. is the different operational process velocity amplitude Δ L. of N apart from destination displacement difference (unit is count pulse pls) Vrpm. travelling speed value (unit for rev/min) the high low speed correction factor of Cx, Dx---(rpm)
Ax---piler level run acceleration (m/s
2) the Bx---unit conversion factor
The first step: when from the 5th row → the 25 row when getting goods, piler should remove the 25th row forward, and the horizontal velocity value is for just, and calculation of parameter such as level run speed and displacement difference are as follows:
L
J＝0pls L
0＝8000pls L
X＝L
5＝58000pls L
N＝L
25＝258000
pls Vmin＝60rpm Vmax＝6000rpm ΔL＝L
25-L
5＝200000
pls Ax＝2.21 Bx＝4.63 Cx＝1545 Dx＝0.107
Work as L
XDuring=58000～208000pls, promptly during Δ L＞50000pls, get Vrpm=Vmax=6000
Rpm (top speed value); Work as L
XDuring=208000～251000pls, promptly Vrpm=Vx (speed changes continuously at 60～6000rpm) o'clock is got in 7000≤Δ L≤50000; Work as L
XDuring=251000～258000pls, promptly get Vrpm=Vmin=60rpm (minimum speed value) during Δ L＜7000pls;
Second step: when from → the 0 row unloading of the 25th row, piler should retreat into the 0th row (going out to put in storage platform) unloading, and the horizontal velocity value is for negative, and calculation of parameter such as level run speed and displacement difference are as follows:
L
J＝0pls L
0＝8000pls L
X＝L
25＝258000pls L
N＝L
0＝8000plsVmin＝60rpm Vmax＝6000rpm ΔL＝L
25-L
0＝250000plsAx＝2.21 Bx＝4.63 Cx＝1545 Dx＝0107
When LX=258000～58000pls, promptly during Δ L＞50000pls, get Vrpm=Vmax=-6000rpm (top speed value); Work as L
XDuring=58000～15000pls, promptly Vrpm=-Vx (speed changes continuously at 60～6000rpm) o'clock is got in 7000≤Δ L≤50000; Work as L
XDuring=15000～8000pls, promptly get Vrpm=Vmin=-60rpm (minimum speed value) during Δ L＜7000pls.
The present invention is by the application of laser ranging and location technology, can realize smooth stepless speed regulation curve easily and reliably, control in conjunction with rotary encoder negative velocity feedback closed-loop vector, constitute two closed-loop speed control system with the Current Negative Three-Point Capacitance of frequency converter, realize the continuous speed adjustment process, make piler that better rate curve be arranged, optimize starting and braking ability, promote the complete machine performance of piler, guarantee the key parameters such as bearing accuracy, stationarity and motion noise of piler.
Claims (2)
1. a method that makes quick precisely location of piler and stepless speed regulation is characterized in that with laser ranging and positioning control technology, the realization piler is definitely recognized the location, the stepless speed regulation when realizing the piler high-speed cruising, and its method is:
The first step. airborne laser range finder (7) is installed in the rear end of piler (2), infrared communication device A (9) is installed in the front end of piler (2), laser-bounce plate (8) is installed in going out inbound port, at the end of ground rail (4) infrared communication device B (10) and termination safety collision block (12) being installed of ground rail (4), infrared communication device A (9) is corresponding in line with infrared communication device B (10), and infrared communication device B (10) is connected with upper monitoring machine (11);
Second step. the PLC Programmable Logic Controller (19) that airborne laser range finder (7) and piler (2) are gone up in the electrical control cubicles (15) is connected, airborne laser range finder (7) is connected with level run frequency converter (20) with PLC Programmable Logic Controller (19) respectively by DP twisted-pair feeder (24), and PLC Programmable Logic Controller (19) is connected with infrared communication device A (9) by DP twisted-pair feeder (24); The data communication of PLC Programmable Logic Controller (19) and upper monitoring machine (11) is by infrared communication device A (9), undertaken by infrared communication device B (10) passage;
The 3rd step. carry out PLC program composition with PLC statement list language, and operate on the PLC Programmable Logic Controller (19), whole positioning distance measuring and speed governing are controlled automatically;
3.1. carry out the range finding and the location of piler (2):
3.1.1. when the self check of PLC power-up initializing is tested oneself, the specific address data that it goes out to put in storage platform and each goods lattice are read, and are saved in the purpose column address (L of PLC inside automatically by airborne laser range finder
0-L
N) data block (DB0-DBN) in, the modification setting of carrying out the destination address tables of data is solidified with preserving, and forms a column address (L who opens one's eyes wide
0-L
N) tables of data relatively uses for piler operation location;
3.1.2 the operation process of piler is:
When piler receives the job instruction that upper monitoring machine or guidance panel touch-screen assign, the PLC Programmable Logic Controller is accepted the instruction and the operation address of packing into, set and the corresponding operation destination address data (LN) of modifying target pointed corresponding target address date table, read the current actual position value (L of piler by airborne laser range finder simultaneously
X=ID0), collect behind these data messages in that PLC is inner and calculate automatically and handle, by formula (Δ L=|L
X-L
N|) can calculate current location (L
X=ID0) with destination address data (L
N) displacement difference Δ L, wherein destination address data (L
N) be changeless, by formula (Δ L=|L
X-L
N|) as can be known displacement difference Δ L be along with current actual position value (L
X=ID0) continually varying;
3.2. realize the stepless speed regulation of piler:
Automatically calculate its operation trend velocity amplitude Vx by the PLC internal processes,
Its speed control computing function is as follows:
When from the 5th row → the 25 row when getting goods, piler should go the 25th row to get goods, then L forward
5=58000pls, L
25=258000pls works as L
XDuring=58000～208000pls section operation, i.e. Δ
LDuring＞50000pls, getting Vrpm=Vmax=6000rpm is maximal rate; Work as L
XDuring=208000～251000pls section operation, i.e. 7000pls≤Δ
LGetting Vrpm=Vx speed during≤50000pls changes continuously at 60～6000rpm; Work as L
XDuring=251000～258000pls section operation, i.e. Δ
LGet Vrpm=Vmin=60rpm minimum speed value during＜7000pls;
In the formula: Vx---piler operation dynamic speed value; Vrpm---travelling speed value;
Δ L---piler operation displacement difference;
Ax---piler level run acceleration is 2.21m/s
2
The Bx---unit conversion factor is 4.63; The high low speed correction factor of Cx---is 1545;
The high low speed correction factor of Dx---is 0.107;
The pls---count pulse; Rpm--rev/min
Vmax---piler maximal rate; Vmin---piler minimum speed;
Operation dynamic speed value is to change continuously along with the variation of displacement difference Δ L, and the travelling speed of stepless control piler is also carried out throw-over by Automatic Program, realizes the stepless change of piler.
2. a kind of method that makes accurate fast location of piler and stepless speed regulation according to claim 1 is characterized in that the bearing accuracy of piler (2) reaches ± 3mm, and travelling speed reaches 200-280m/min.
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| CNB2007100453976A CN100555132C (en) | 2007-08-30 | 2007-08-30 | A kind of method that makes accurate fast location of piler and stepless speed regulation |
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| WO2011120201A1 (en) * | 2010-04-01 | 2011-10-06 | 江苏六维物流设备实业有限公司 | Piler neural network control technology |
| WO2011120200A1 (en) * | 2010-04-01 | 2011-10-06 | 江苏六维物流设备实业有限公司 | Genetic optimization control technology for stacking machines |
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