CN104326242A - Method and device thereof for controlling running direction of rail guide vehicle - Google Patents
Method and device thereof for controlling running direction of rail guide vehicle Download PDFInfo
- Publication number
- CN104326242A CN104326242A CN201410450879.XA CN201410450879A CN104326242A CN 104326242 A CN104326242 A CN 104326242A CN 201410450879 A CN201410450879 A CN 201410450879A CN 104326242 A CN104326242 A CN 104326242A
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- Prior art keywords
- shuttle
- rail guide
- wheel
- pid controller
- controller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a method and a device thereof for controlling running direction of a rail guide vehicle, and aims at providing a method and a device thereof for accurately controlling the running direction of the rail guide vehicle of an automatic warehouse. The method and the device have the advantages that the running direction of the rail guide vehicle can be effectively regulated, and the friction collision between the rail guide vehicle and the rail edge can be avoided. The control method comprises the following steps of (1) collecting the distance between two front vehicle wheels and the rails at the corresponding sides along the driving direction of the rail guide vehicle, and the speeds of the two front vehicle wheels along the driving direction of the rail guide vehicle in real time; inputting the data collected in step (1) into a PID (proportion integration differentiation) controller; according to the distance difference of the two front vehicle wheels and the corresponding rails along the driving direction of the rail guide vehicle, enabling the PID controller to adjust the speeds of a left motor and a right motor for driving the two vehicle wheels of the whole rail guide vehicle, thus realizing the adjusting of the direction of the rail guide vehicle; according to the real-time collected data, repeating the steps, and controlling the direction of the rail guide vehicle in real time. The control device comprises a sensor, a detector and the PID controller, wherein the PID controller is electrically connected with the sensor, the detector and the motors for driving the vehicle wheels.
Description
Technical field
The present invention relates to Automatic Warehouse track shuttle Direction Control field, especially relates to a kind of control method and control setup thereof of track shuttle service direction.
Background technology
Along with the production-scale continuous expansion of modernization of business and in-depth, FMS flexible manufacturing system, computer-integrated manufacturing system and factory automation propose higher requirement to products storage circulation system, a kind of Automatic Warehouse track shuttle with turning function focuses on the multitask fusion application of automated warehousing management system, perfection can realize the multiple-task such as goods access, carrying, placement between different layers, different tunnel, simultaneously in conjunction with recognition technology, realize the functions such as automation identification, Classification Management.For automated storing system is filled with completely new concept, more fully and flexibly space can be utilized with more powerful operator perforniance than traditional storage mode.To have a wide range of applications and advantage at Warehouse Management System (WMS), Flexible Production line.
Higher requirement be it is also proposed to shuttle control system.Realize the high-precision position control of shuttle, higher requirement must be proposed to its accurate direction controlling, prevent shuttle and orbiting collision, ensure the control accuracy of its shuttle position simultaneously.
At present, shuttle is direct puncture formula shuttle mainly, not there is turning function, and this class shuttle is simple, meanwhile, the main way adopting machinery, prevent shuttle and orbiting collision, do not avoid the collision problem on shuttle and track limit, due to the long-play of shuttle, must change its parts.Meanwhile, control to have a certain impact to high-precision shuttle positional precision.
Summary of the invention
Instant invention overcomes shortcoming of the prior art, provide a kind of energy Effective Regulation shuttle service direction, avoid shuttle and track limit that accuracy control method and the control setup thereof of the Automatic Warehouse track shuttle service direction of frictional impact occur.
In order to solve above-mentioned technical matters, control method of the present invention is achieved through the following technical solutions: a kind of control method of track shuttle service direction, specific as follows:
(1) distance of Real-time Collection shuttle travel direction front two wheel and corresponding siding track and the speed of shuttle institute's travel direction front two wheel;
(2) data gathered in step (1) are conveyed in PID controller, according to the distance difference of shuttle institute's travel direction front two wheel and respective rail, the speed that shuttle left and right sides drives two wheel electrical machines is adjusted by PID controller, realize the adjustment in shuttle direction, circulate according to this according to real-time data collection and carry out the real-time control in shuttle direction.
Preferably, the concrete control flow of the method is:
Step 1: set up two-dimentional dual input three and export pid parameter adjustment controller;
Step 2: setting sensor deviate e=0, gathers observed reading L1 and the L2 of upper two distance measuring sensors in moment shuttle travel direction front, and calculates control system departure e; Measuring distance by data acquisition system Real-time Collection, and calculates control system departure e and deviation variation rate by this data processing unit
;
Step 3: by the difference e of the wheel limit distance measuring sensor of current time and deviation variation rate
export in PID auto-adaptive parameter setting controller as two-dimentional dual input three, after reasoning and computing, export setting valve Δ P, Δ I, the Δ D of the PID controller after renormalization;
Step 4: setting valve Δ P, Δ I, Δ D are substituted in the computing formula of conventional PID controller output, realizes motor differential and regulates, and then reach the object of shuttle direction adjustment;
Step 5: repeat step 2 ~ step 4, carries out the adjustment of subsequent time motor speed difference and controls.
Control setup of the present invention is achieved through the following technical solutions: the control setup of a kind of storehouse track shuttle service direction, it comprises and is arranged at shuttle travel direction front two wheel and closes on sensor on this siding track end face, for detecting the detector driving shuttle travel direction front two wheel velocity, and PID controller; Described PID controller is with sensor, detector and drive the motor of wheel to be electrically connected, and described PID controller controls in real time to the speed of motor after calculating according to the data that sensor, detector input in real time.
Compared with prior art, tool of the present invention has the following advantages:
The present invention can realize being with the accurate direction controlling of Automatic Warehouse track shuttle of turning function, and effectively can avoid the collision between shuttle and track, therefore it does not need to use crashproof parts, and then stops crashproof parts and install the trouble changed and bring.Meanwhile, invention increases the precision of shuttle position control, improve the smoothness that it runs.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the PID control principle drawing of the control method of track shuttle service direction.
Fig. 2 is the two-dimentional dual input three o controller constructional drawing of PID control method.
Fig. 3 is the schematic diagram that track shuttle coordinates with track.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not paying the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of control method of the present invention is as follows:
(1) distance of Real-time Collection shuttle travel direction front two wheel and corresponding siding track and the speed of shuttle institute's travel direction front two wheel;
(2) data gathered in step (1) are conveyed in PID controller, according to the distance difference of shuttle institute's travel direction front two wheel and respective rail, the speed that shuttle left and right sides drives two wheel electrical machines is adjusted by PID controller, realize the adjustment in shuttle direction, circulate according to this according to real-time data collection and carry out the real-time control in shuttle direction.
As shown in Figure 1, the self adaptation of a kind of track shuttle service direction control method provided by the invention
control principle drawing.According to the distance of taking turns limit distance measuring sensor and track flange
, shuttle speed
with the departure Δ V of speed, deviation e between the observed reading of wheel limit distance measuring sensor and expected value and deviation variation rate Δ e Automatic adjusument conventional PID controller three parameter values, can action rapidly when control system is disturbed, achieve the stability contorting in shuttle direction.Self-adaptive link is realized by a two dimensional model controller, the deviation signal e obtained by sensor sample also calculates the input of variation rate of change Δ e as two dimensional model controller, by the mapping ruler of set generation, three parameters of real-time adjustment PID controller, reach stable, control fast and accurately.Concrete steps comprise:
Step 1: set up two-dimentional dual input three and export pid parameter adjustment controller, as shown in Figure 2.
In described step 1, the step setting up two-dimentional dual input three output model controller comprises:
(1) certainty annuity deviation e, deviation variation rate
setting valve Δ P, the Δ I of e and PID and the data variation scope of Δ D, and pass through formula
Be normalized; Wherein, y
ifor normalization data; x
ifor take off data; x
minfor design detects data minimum value; x
maxfor design detects data maximums; After normalization method, the span of deviation e is [-10,10], deviation variation rate
span be [-5,5], the span of Δ P is [-1,1], and the span of Δ I is [-1,1], and the span of Δ D is [-1,1].
(2) the system deviation e after normalization method, deviation variation rate Δ e, PID setting valve Δ P, Δ I and Δ D are divided.Wherein, m part is divided into deviation e, is designated as e
1, e
2..., e
m;
To deviation variation rate
e is divided into n part, is designated as
e1,
e2 ...,
en; I part is divided into setting valve Δ P, is designated as
p1,
p2 ...,
pn; To setting valve
i is divided into j part, is designated as
i1,
i2 ...,
ij; To setting valve
d is divided into k part, is designated as
d1,
d2 ...,
dk.
(3) e={eq} is made, q=1,2 ..., m; Order
e={
eq}, q=1,2 ..., n; Order
p={
pq}, q=1,2 ..., i; Order
i=
iq, q=1,2 ..., j; Order
d={
dq}, q=1,2 ..., k; Set up the mapping of e × Δ e to Δ P respectively, e × Δ e arrives
the mapping of I and e ×
e, to the mapping of Δ D, it can be used as two-dimentional dual input three to export the control law of the controller that pid parameter is adjusted.
(4) set up two-dimentional dual input three export the regular former piece Sum fanction consequent of pid parameter setting controller and be normalized.Using the regular former piece of the departure e of control system and deviation variation rate Δ e as pid parameter setting controller, i.e. controller input.Using the consequent of PID controller setting parameter as controller, i.e. controller output.Determine control system departure e, deviation variation rate
e, setting valve Δ P, setting valve Δ I and setting valve Δ D variation range are also normalized; After normalization method, control system departure e span is [-10,10]; Deviation variation rate Δ e span is [-5,5]; Setting valve Δ P, setting valve Δ I and setting valve Δ D span are for being [-1,1].
(5) control system departure e, deviation variation rate is divided
e, setting valve Δ P, Δ I and Δ D.
In the present embodiment, the control system departure e after normalization method is divided 5 parts by size.Be designated as e respectively
1, e
2, e
3, e
4, e
5, be respectively used to characterize " departure is negative large ", " deviation is born little ", " departure is zero ", " departure is just little " and " departure is honest ".
Deviation variation rate Δ e after normalization method is divided into 3 parts according to size, is designated as Δ e1 respectively, Δ e2, Δ e3, be respectively used to characterize " deviation variation rate is born ", " deviation variation rate zero " and " deviation variation rate just ".
Setting valve Δ P after normalization method is divided into 5 parts according to size, is designated as respectively
ΔP1，ΔP2，ΔP3，ΔP4，ΔP5。Be respectively used to characterize " Δ P is negative large ", " setting valve Δ P bears little ", " setting valve Δ P zero ", " setting valve Δ P is just little " and " P is honest for setting valve Δ ".
Setting valve Δ I after normalization method is divided into 5 parts according to size, is designated as Δ I1 respectively, Δ I2, Δ I3, Δ I4, Δ I5.Be respectively used to characterize " setting valve Δ I is negative large ", " setting valve Δ I bears little ", " setting valve Δ I zero ", " setting valve Δ I is just little " and " I is honest for setting valve Δ ".
Setting valve Δ D after normalization method is divided into 5 parts according to size, is designated as Δ D1 respectively, Δ D2, Δ D3, Δ D4, Δ D5.Be respectively used to characterize " setting valve Δ D is negative large ", " setting valve Δ D bears little ", " setting valve Δ D zero ", " setting valve Δ D is just little " and " D is honest for setting valve Δ ".
In pid parameter setting controller, three numerical characteristics are used to represent respectively, { e
i, Δ ej, Δ Pi, Δ Ii, Δ Di ,=1,2,3,4,5; J=1,2,3} design parameter arranges as shown in the table:
Each parameter above-mentioned is input to according among more rules controller established above, namely completes the foundation based on PID self-adaptive step random search method controller.
Step 2: setting sensor deviate e=0, gathers observed reading L1 and the L2 of upper two distance measuring sensors in moment shuttle travel direction front, and calculates control system departure e.Measuring distance by data acquisition system Real-time Collection, and calculates control system departure e and deviation variation rate by this data processing unit
.
Step 3: by the difference e of the wheel limit distance measuring sensor of current time and deviation variation rate
export in PID auto-adaptive parameter setting controller as two-dimentional dual input three, after reasoning and computing, export setting valve Δ P, Δ I, the Δ D of the PID controller after renormalization.
Step 4: setting valve Δ P, Δ I, Δ D are substituted in the computing formula of conventional PID controller output, realize motor differential and regulate, and then reach the object of shuttle direction adjustment, computing formula is:
Wherein, u (t) is controller output valve; K
pfor a upper moment PID controller proportionality coefficient; K
ifor a upper moment PID controller integral coefficient; K
dfor a upper moment PID controller differential coefficient; Δ P is PID controller COEFFICIENT K
ppre-corrected value; Δ I is PID controller COEFFICIENT K
ipre-corrected value; Δ D is PID controller COEFFICIENT K
dpre-corrected value; E (t), e (τ) are system deviation;
Step 5: repeat step 2 ~ step 5, carries out the adjustment of subsequent time motor speed difference and controls.Thus realize the accurate direction controlling of shuttle, improve response time and the stability of control system.Reach fast, stable, control effects accurately.
What Figure 3 shows that shuttle and track coordinates schematic diagram, the control setup of track shuttle service direction of the present invention, it comprises and is arranged at shuttle travel direction front two wheel and closes on sensor on this siding track end face, for detecting the detector driving shuttle travel direction front two wheel velocity, and PID controller; Described PID controller is with sensor, detector and drive the motor of wheel to be electrically connected, and described PID controller controls in real time to the speed of motor after calculating according to the data that sensor, detector input in real time.
The deviation that the present invention effectively can solve tyre skidding in shuttle operational process, vibration causes, the problem can be partial in real time correction shuttle operational process, without the need to using crashproof parts to cushion the friction of shuttle wheel and track, therefore its structure is more simplified, and safeguards simpler.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (3)
1. a control method for track shuttle service direction, is characterized in that:
The distance of Real-time Collection shuttle travel direction front two wheel and corresponding siding track and the speed of shuttle institute's travel direction front two wheel;
The data gathered in step (1) are conveyed in PID controller, according to the distance difference of shuttle institute's travel direction front two wheel and respective rail, the speed that shuttle left and right sides drives two wheel electrical machines is adjusted by PID controller, realize the adjustment in shuttle direction, circulate according to this according to real-time data collection and carry out the real-time control in shuttle direction.
2. the control method of track shuttle service direction according to claim 1, is characterized in that: the concrete control flow of the method is:
Step 1: set up two-dimentional dual input three and export pid parameter adjustment controller;
Step 2: setting sensor deviate e=0, gathers observed reading L1 and the L2 of upper two distance measuring sensors in moment shuttle travel direction front, and calculates control system departure e; Measuring distance by data acquisition system Real-time Collection, and calculates control system departure e and deviation variation rate by this data processing unit
;
Step 3: by the difference e of the wheel limit distance measuring sensor of current time and deviation variation rate
export in PID auto-adaptive parameter setting controller as two-dimentional dual input three, after reasoning and computing, export setting valve Δ P, Δ I, the Δ D of the PID controller after renormalization;
Step 4: setting valve Δ P, Δ I, Δ D are substituted in the computing formula of conventional PID controller output, realizes motor differential and regulates, and then reach the object of shuttle direction adjustment;
Step 5: repeat step 2 ~ step 4, carries out the adjustment of subsequent time motor speed difference and controls.
3. the control setup of a storehouse track shuttle service direction, it is characterized in that: comprise and be arranged at shuttle travel direction front two wheel and close on sensor on this siding track end face, for detecting the detector driving shuttle travel direction front two wheel velocity, and PID controller; Described PID controller is with sensor, detector and drive the motor of wheel to be electrically connected, and described PID controller controls in real time to the speed of motor after calculating according to the data that sensor, detector input in real time.
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|---|---|---|---|
| CN201410450879.XA CN104326242B (en) | 2014-09-05 | 2014-09-05 | Method and device thereof for controlling running direction of rail guide vehicle |
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|---|---|---|---|
| CN201410450879.XA CN104326242B (en) | 2014-09-05 | 2014-09-05 | Method and device thereof for controlling running direction of rail guide vehicle |
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| CN104326242B CN104326242B (en) | 2017-02-01 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106909155A (en) * | 2017-03-28 | 2017-06-30 | 北京京东尚科信息技术有限公司 | Automated guided vehicle control method, device and automated guided vehicle |
| CN108163428A (en) * | 2017-11-28 | 2018-06-15 | 南京音飞储存设备（集团）股份有限公司 | A kind of speed intelligent barrier avoiding of sports equipment follows method |
| CN109867103A (en) * | 2017-12-01 | 2019-06-11 | 本田技研工业株式会社 | Automatic Guided Vehicle |
| CN112722732A (en) * | 2020-12-18 | 2021-04-30 | 广东电网有限责任公司 | Rail transport equipment control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109867103A (en) * | 2017-12-01 | 2019-06-11 | 本田技研工业株式会社 | Automatic Guided Vehicle |
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| CN112722732A (en) * | 2020-12-18 | 2021-04-30 | 广东电网有限责任公司 | Rail transport equipment control system |
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