电子科技2024，Vol.37Issue(5)：54-61,8.DOI:10.16180/j.cnki.issn1007-7820.2024.05.008
售货机升降系统S型速度控制策略
Research on S-Type Speed Control Strategy of Vending Machine Lifting System
摘要
Abstract
Under the traditional three-closed loop control mode,the vending machine lifting and receiving sys-tem is prone to impact due to the sudden acceleration during the start and stop process,which leads to the unstable operation of the system.To solve this problem,the traditional acceleration and deceleration control strategy of lifting system is improved,and a S-type velocity curve control algorithm is proposed by adding feed forward and differential negative feedback.According to the discriminant conditions of path planning,S-type velocity curve is divided into three types:seven-stage,six-stage and four-stage.The parameter solving method and the specific execution process under each path constraint condition are given.The algorithm is applied to the lifting control system for simu-lation and actual working condition test.The experimental results show that compared with the traditional three-closed-loop control,the provided control strategy can improve the stability of the lifting system,reduce the impact,make the speed curve change more gentle,and maintain good tracking performance.关键词
加减速控制/S型速度曲线/升降系统/加速度突变/冲击/售货机/控制策略/跟踪性能Key words
acceleration and deceleration control/S-shaped speed curve/lifting system/sudden acceleration/impact/vending machine/control strategy/tracking performance分类
信息技术与安全科学引用本文复制引用
冯高明,邱文仙,金明磊..售货机升降系统S型速度控制策略[J].电子科技,2024,37(5):54-61,8.基金项目
国家自然科学基金(41672363) National Natural Science Foundation of China(41672363) （41672363）
