基于PLC的RGV加减速优化控制及实现  

Optimization Control and Realization of Acceleration and Deceleration of RGV Trolley Based on PLC

作　　者：蒋正锋 秦向前 周波 Jiang Zhengfeng;Qin Xiangqian;Zhou Bo(Lanzhou Jiaotong University,Lanzhou 730070,China;Sichuan Polytechnic Technician College,Chengdu 610000,China)

机构地区：[1]兰州交通大学,兰州730070 [2]四川理工技师学院,成都610000

出　　处：《机电工程技术》2023年第5期150-153,236,共5页Mechanical & Electrical Engineering Technology

摘　　要：在智能化立体车库中,RGV作为重要的车辆运载装备,其运行精度、稳定性要求较高。传统RGV控制主要关注RGV软启动,定位准确性,对于柔性加减速控制关注较少。当前的加减速算法包括直线加减速法、指数加减速法、多项式加减速法、抛物线加减速法、S曲线加减速法等算法,存在加速度突变,不能体现柔性加减速的思想,或者算法复杂需要消耗控制器大量逻辑运算时间,抑或固定在控制器参数不方便调节。为此建立基于PLC控制的两相混合式步进电机控制系统,采用M测速法测速,基于改进型正弦加减速速度曲线算法实现柔性运动控制,应用于RGV行走结构控制模型系统。实验表明改进正弦加速度算法易于实现,参数较少,可调节,减轻PLC运算压力,运行速度曲线较平滑,响应速度快,也可拓展用于其他柔性加减速控制场合。In the intelligent stereo garage,RGV,as an important vehicle carrying equipment,has high requirements for operation accuracy and stability.Traditional RGV control mainly focuses on RGV soft start and positioning accuracy,and pays less attention to flexible acceleration and deceleration control.The current acceleration and deceleration algorithms include linear acceleration and deceleration method,exponential acceleration and deceleration method,polynomial acceleration and deceleration method,parabolic acceleration and deceleration method,Scurve acceleration and deceleration method and other algorithms.Either there is acceleration mutation,which cannot reflect the idea of flexible acceleration and deceleration,or the algorithm is complex and needs to consume a lot of logic operation time of the controller,or it is inconvenient to adjust the parameters fixed in the controller.A two-phase hybrid stepping motor control system based on Xinjie PLC was established.The M-speed measurement method was used to measure the speed,and the flexible motion control was realized based on the improved sinusoidal acceleration and deceleration speed curve algorithm.It was applied to the RGV walking structure control model system.The experiment shows that the improved sinusoidal acceleration algorithm is easy to realize,the parameters are less,it can be adjusted,the PLC calculation pressure is reduced,the running speed curve is smooth,and the response speed is fast.It can also be extended to other flexible acceleration and deceleration control occasions.

关 键 词：RGV PLC 步进电机 加减速控制 正弦S曲线 

分 类 号：TM383.6[电气工程—电机]