售货机升降系统S型速度控制策略OA

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.