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1、 The Design of Stereoscopic Warehouse Stacker Motionand Control SystemAbstract. With the continuous improvement of industrial automation, automated warehouse has been widely used in various industries to improve the production efficiency and Logistics speed to a great extent. As an essential equipme
2、nt of automated warehouse, stacker working efficiency and stable performance will affect the usability of the warehouse directly. This essay studies the tunnel type stacking in machine speed control system of an automated warehouse, and analysis its motion curves. Then we combine it with the stacker
3、s composite material structure to guarantee better motion control accuracy and motion reliability.Keywords: stereoscopic warehouse, stacker, motion control.1 IntroductionModern automated warehouse is a modern warehouse which uses high-dimensional shelf to store materials, and to control management b
4、y computers and making access role by automatic stacking trucks. In recent years, stereoscopic warehouses has highly improved related enterprises production and logistics speed. Stacker is an important and indispensable equipment in a stereoscopic warehouse, its working efficiency and stable functio
5、n affects stereoscopic warehouse efficiency and economic benefits fundamentally. As a whole, stackers evaluation performance includes：lifting speed, running speed, goods forking speed, and stability and address recognition accuracy. Among all the evaluation performances, the stackers speed is the es
6、sential factor, because it can control can deeply affect the stability, the vibration situation, and address recognition accuracy of stackers operation. So, making In-depth research in stackers motion situation and speed control system is extremely important, it can help us to make sackers with high
7、efficiency, more stable and larger motion range.2 Motion Control of the Stacker2.1 AbstractAn stackers motion control technology mainly reflects in its motion speed control,Nowadays there are several methods of stackers motion speed control, as beenshowed below：1） Multi-range speed control mode. Thi
8、s control mode is built in a certain usage foundation. When its working, we must consider the stackers actual control need and it also can use sub-file operation mode according to relevant experience. To a large extent, this mode needs coordination exercise control and it also requires dealing with
9、Inverters performance.2) Using inverter to complete the closed-loop speed stacker and stacker control displacements open-loop control, usually, the Stackers ideal motion curve can be concluded to Standard acceleration and deceleration curves. After one motions experimental curve being confirmed, it
10、can be stored in a stored and we can use PLC to control the inverter to change the motion curve, thus we achieve the purpose of accurate speed and stop.3) There are some problems in the turning point in speed and acceleration switch of stacker movement functions. To solve this problem, we can use th
11、e fuzzy control technology to make reasonable improvement.A mechanical processing factorys warehouse is mainly used for mould、the storage of semi-finished products and finished products processing. It has the function of automatic management store items. The deposit product for stacker deposit requi
12、rement is taken must be fast, stable and reliable. The control system adopts PLC as the master components; it has a greater flexibility and high reliability. Warehouse stacker uses common stacker machine, the weight is of 0.25-1.5 tons, and its operation speed is from twenty five to one hundred and
13、eighty meters per minute. It mainly composed of the body, the level of operating agencies, vertical hoisting mechanism, telescopic fork loading station and institutions and several other components. The main structure of stacker machine is as shown in figure 1 below: Fig. 1. Stacker machines main st
14、ructure2.2 The Set of the Velocity of the StackerFrom the main structure of stacker machine ,we can also know, tuckers major sports includes three basic action, these are：level of movement mechanism、the vertical lifting mechanisms up and down movement、adjustable action in goods fork telescopic machi
15、ne. So, stackers final task efficiency, its movement and performance is also decided by these three movements of the basic control degree. When stacking machine is moving, to ensure the movement is smooth and reliable, we must ensure that the stop registration of movements accuracy and its movements
16、 flatness by some certain control strategy. The method of motion speed is to adjust the operating curve, and then stored it in control memory. When PLC is controlling the motion, through changing the curve which is stored in the inverter we can achieve the purpose of accurate speed and stop.Level speed setting mechanism is settled for four gears, these are crawling, low speed, middle and high speed. When PLC is controlling the
