自动化立体仓库中盘库与堆垛机控制的研究

类号密级UDC学位论文自动化立体仓库中盘库与堆垛机控制的研究作者姓名：康宗涛指导教师：张家生教授东北大学申请学位级别：硕士学科类别：工学学科专业名称：控制理论与控制工程论文提交日期：2007年12月25日论文答辩日期：2008年1月16日学位授予日期：答辩委员会主席：汪晋宽教授评阅人：刘彦明，于丁文东北大学2007年12月ADissertationinControlTheoryandControlEngineeringResearchontakestockandstackercontrolofAS/RSbyKangZongTaoSupervisor:ProfessorZhangJiaShengNortheasternUniversityDecember2007I独创性声明本人声明，所呈交的学位论文是在导师的指导下完成的。论文中取得的研究成果除加以标注和致谢的地方外，不包含其他人己经发表或撰写过的研究成果，也不包括本人为获得其他学位而使用过的材料。与我一同工作的同志对本研究所做的任何贡献均已在论文中作了明确的说明并表示谢意。学位论文作者签名：日期：学位论文版权使用授权书本学位论文作者和指导教师完全了解东北大学有关保留、使用学位论文的规定：即学校有权保留并向国家有关部门或机构送交论文的复印件和磁盘，允许论文被查阅和借阅。本人同意东北大学可以将学位论文的全部或部分内容编入有关数据库进行检索、交流。（如作者和导师不同意网上交流，请在下方签名；否则视为同意。）学位论文作者签名：导师签名：签字日期：签字日期：东北大学硕士学位论文摘要II自动化立体仓库中盘库与堆垛机控制的研究摘要自动化立体仓库系统(AutomatedStorage&RetrievalSystem)是一种集信息、存储、管理于一体的高技术密集型机电化产品，由于它具有节约劳动力，作业迅速准确，可以提高保管效率，减低物流费用等优越性，日益受到越来越多的重视，它必将为工业、企业带来巨大的经济效益。其中自动化立体仓库如何提高作业效率，始终是一个重点研究问题。首先本文介绍了自动化立体仓库的构成及运行原理，随后分析现行的盘库方法与作业流程，针对目前盘库的种种弊端，提出一种利用LCD显示商品的名称和数量，代替堆垛机盘库的电子标签辅助盘库系统。在盘库时数据库PC机将所有商品的信息和剩余数量，通过无线方式传输到货架上对应的电子标签，盘库人员只需清点实际的商品数量和电子标签显示的数量是否一致，即可完成一个货位的盘库，通过这种方式，可以大大提高盘库的效率。堆垛机是自动化立体仓库中重要的搬运设备，是立体仓库的心脏部分。自动化立体仓库的优越性必须通过堆垛机才能充分体现出来。堆垛机性能优劣的指标有很多，其中堆垛机的定位精度和水平运行速度是昀重要的指标。首先通过研究分析，对立体仓库现有的定位装置及定位方式提出改进方案，采用激光测距传感器代替陈旧的光电认址方式。从技术角度来说，即提高了系统的可靠性，又提高了定位精度，同时运行速度有很大的提升。其次，定位方式的更新，堆垛机运行系统的控制方案也相应的采取变动。本文在现有的控制基础上，采用先进的模糊控制算法，实现了堆垛机的高性能和智能化，使堆垛机以昀优的速度运行，减少工作循环周期，提高了工作效率。关键词：自动化立体仓库；电子标签；辅助盘库；堆垛机；模糊控制；东北大学硕士学位论文AbstractIIIResearchoncontrolsystemofAS/RSAbstractAutomatedStorage&RetrievalSystemisanelectromechanicalproductofhigh-technology,whichisacombinationofinformation,storageandmanagement.Itispaidmoreandmoreattention,becauseitisofsavinglaborforce,decreasinglogisticscosts.Thesewillcertainlybringthehugeeconomicefficiencytotheindustryandenterprise.HowtoraiseAS/SRworkingefficiencyisaveryimportantresearchsubjectiontoresearcherinchinaandabroad.Inthepaper,thewarehouseconstitutionandmethodofmovementaresurveyedcompletely.Thecurrentprincipleoftakestockisanalyzedthoroughlyalso.Sincetheoperationoftakestockhasallsortsofabusesatpresent,usingLCDdisplaythenameandsurplusquantityofcommoditiesisdesigned.Thesystemreplacesstackerbyelectronictagatmakinganinventoryofgoodsinawarehouse.ThePCtransmitsinformationofcommoditiestoelectronictagusingwirelessway.Thepeopleonlyneedinspectwhethertheactualquantityissamewithelectronictagdemonstratedandcompleteastoragespaceso.Inthisway,peoplecouldgreatlyenhanceefficiencyofmakinganinventoryofgoodsinawarehouse.Thestackercranewhichisthemostsignificantloaderequipmentistheheartofautomatedwarehouse.Thesuperiorityofautomatedwarehousemustbeabletoembodythroughit.Thewalkingspeedandcontrolprecisionisthemostimportanttargettoshowtheadvantageofstacker.Firstlythroughcarefullyresearch,weproposetheimprovedprojectiontosituationcontrolandlocationmeasurecontrol.Weanalyzeseveralkindsoforientationandselectanewcontrolmethodwhichcouldadoptlaserdistancemeasuring.Fromtechnicalaspect,itnotonlyenhancessystem'sreliabilityandspeed,butalsoincreasesthelocationaccuracy.Secondlyweadoptanewmethodinstacker’smovingcontrol.Bymeansofcomparingmanykindsofalgorithms,anadvancedfuzzycontrolisdesignedforstacker’smoving.Theresultofsimulationshowsthatthestacker’smovingisofhigh-speedresponse,accuracypositionandintelligence.Theseenhanceworkingefficiencyandreducethetimeofcirculationenormously.东北大学硕士学位论文AbstractIVKeywords:AutomatedStorage&RetrievalSystem;electroniclabel;assistanttakestock;stacker;fuzzycontrol.东北大学硕士学位论文目录目录独创性声明··························································································································I摘要···································································································································IIAbstract······························································································································III第一章绪论··························································································································11.1本课题的目的和意义·························································································11.2课题的国内外现状综述······················································································11.2.1自动化立体仓库的发展历史·······································································11.2.2国内外研究概况··························································································21.2.3涉及的技术与领域·······················································································31.3论文主要研究的内容及创新点··········································································4第二章自动化立体仓库概述······················································································72.1自动化立体仓库的定义······················································································72.2自动化立体仓库的组成······················································································82.3自动化立体仓库的分类····················································································122.4自动化立体仓库的优势····································································