危化品仓库堆垛安全距离的精确扫描定位监控算法的研究  

Research of Accurate Location Algorithm in Stack Safe Distance Monitoring-control Device for Chemicals Warehouse

作　　者：刘学君[1] 江帆[2] 戴波[1] 栾海英[3] 李京[2] 

机构地区：[1]北京石油化工学院,北京102617 [2]北京化工大学,北京100029 [3]北京机械工业自动化研究所,北京100120

出　　处：《计算机测量与控制》2016年第11期73-76,共4页Computer Measurement &Control

基　　金：北京市自然科学基金(13000031019);北京市教委科技计划面上项目(15032221001/006);北京石油化工学院科技创新资助项目(15031862005/052);北京石油化工学院优秀青年教师和管理骨干培育计划项目(08031862008/040)

摘　　要：根据危化品仓库码垛安全距离需要精确监控的需求,设计开发了一种精确扫描定位装置,将仓库划分为若干网格,对每个监测面测距扫描,获得每一个点的距离值和角度值,根据对应点是否与安全状态数值一致来判断堆垛的安全状态;硬件由控制器、细分驱动、步进电机、涡轮螺杆、工作台等组成;电机定位控制采用指数型加减速算法和闭环反馈调节相结合的控制算法,首先获得一个起跳频率,经过加减速控制阶段,到达目标位置附近,之后进入反馈调节阶段,控制步进电机到达指定位置;指数型加减速算法降低了启动和停止时加速度突变大小,避免了由于步进电机频率变化过快引起失步和堵转;实验结果表明,该装置及算法运行稳定,定位精度在0.022度左右,定位精度高,满足仓库安全距离扫描监控的精度要求。According to the accuracy requirement of monitoring and controlling of the safety distance of the dangerous chemicals warehouse, the warehouse is divided into some grids, the distance values and angle values are got by scanning each monitoring point range of grid, corresponding points whether with safe state numerical consistent to judge the safety state of the stacking. Hardware consists of the controller, subdivision drive, stepper motor, turbine screw, working table and so on. Motor positioning control algorithm combined exponential acceleration and deceleration algorithm and closed--loop feedback regulation, firstly a takeoff frequency is obtained, the vicinity of the target position is reached after acceleration and deceleration algorithm control stage. Then the stepper motor reaches the designated position after the feedback regulation stage. Acceleration and deceleration algorithm reduces the start and stop when the acceleration index size type, avoid the stepper motor frequency change too fast caused by step and stall. The experimental results show that the device and algorithm are stable, the positioning accuracy is about 0. 022 degrees, the positioning accuracy is high, and it meets the requirements of the accuracy of the ware- house safety distance scanning monitoring.

关 键 词：扫描监测 精确定位 指数型加减速算法 闭环控制 步进电机 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]