超高堆垛机水平运行防摇摆技术现状综述  

A Review of the Current Status of Anti-sway Technology for Horizontal Operation of Ultra-high Stacker Cranes

作　　者：郝岳强 冯伟 Hao Yueqiang;Feng Wei(OMH SCIENCE Group Co.,Ltd.,Taiyuan Shanxi 030008,China)

机构地区：[1]东杰智能科技集团股份有限公司,山西太原030008

出　　处：《山西电子技术》2024年第5期123-126,共4页Shanxi Electronic Technology

摘　　要：通过对超高堆垛机水平运行启停阶段机架上部整体摇摆晃动的不同技术解决方案进行阐述,针对解决问题的两大方向从机械结构与电气控制两方面进行说明。机械结构防摇摆措施有:优化机架结构形式提高整体刚性;在机架顶部设置驱动装置使设备上下启停一致,并通过顶部驱动装置强制进行制动。电气控制方面防摇摆措施有:使用S型速度控制曲线降低加减速阶段由于加速度突变引起设备冲击摇摆晃动;水平驱动采用双闭环控制,提高一次性停止定位精度,避免二次移动冲击摇摆晃动;采用防摇摆控制算法优化速度、加速度控制曲线,通过消除设备固有振荡频率,消除顶部摇摆晃动。This article elaborates on different technical solutions to the overall swaying of the upper part of the frame during the start and stop stages of ultra-high stacker crane horizontal operation,and explains the two major directions to solve the problem from the aspects of mechanical structure and electrical control.The anti-sway measures of the mechanical structure include:optimizing the structural form of the frame to improve the overall rigidity;setting a driving device on the top of the frame to make the equipment start and stop uniformly up and down,and forcing braking through the top driving device.In terms of electrical control,anti-sway measures include:using S-shaped speed control curve to reduce the impact and sway of the equipment due to sudden acceleration during the acceleration and deceleration stage;adopting double closed-loop control for the horizontal drive to improve one-time stop positioning accuracy and avoid secondary movement impact and sway;using the anti-sway control algorithm optimizes the speed and acceleration control curves and eliminates top sway by eliminating the inherent oscillation frequency of the equipment.

关 键 词：超高堆垛机 防摇摆 速度控制 固有振荡频率 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]