【正文】 當(dāng)上升到目標(biāo)貨格上光電開關(guān)接觸到目標(biāo)認(rèn)址擋板時(shí)開始減速，以慢速爬行行駛，當(dāng)取貨時(shí)光電開關(guān)上對(duì)準(zhǔn)，堆垛機(jī)停止上升。存貨時(shí)光電開關(guān)下對(duì)準(zhǔn)，堆垛機(jī)上升停止。 本章小結(jié)本章我們對(duì)堆垛機(jī)運(yùn)行控制的過程進(jìn)行了設(shè)計(jì)。包括堆垛機(jī)作業(yè)流程圖、堆垛機(jī)的幾個(gè)重要運(yùn)行部分，并且對(duì)PLC控制系統(tǒng)輸入輸出點(diǎn)的分配進(jìn)行了詳細(xì)論述。結(jié)論本次“自動(dòng)化立體倉庫雙軌道堆垛機(jī)控制系統(tǒng)設(shè)計(jì)”認(rèn)識(shí)學(xué)習(xí)了幾個(gè)主要機(jī)構(gòu)的結(jié)構(gòu)，對(duì)堆垛機(jī)的運(yùn)行原理進(jìn)行了分析。論文首先從堆垛機(jī)的特點(diǎn)及組成形式開始，接著對(duì)堆垛機(jī)的運(yùn)行過程及運(yùn)行坐標(biāo)進(jìn)行了相關(guān)的論述及定義，再對(duì)堆垛機(jī)相關(guān)硬件進(jìn)行了選型，然后根據(jù)堆垛機(jī)的運(yùn)行特點(diǎn)對(duì)堆垛機(jī)的控制過程的相關(guān)硬件進(jìn)行了合理的設(shè)計(jì)，最后根據(jù)堆垛機(jī)的運(yùn)行過程進(jìn)行堆垛機(jī)運(yùn)行過程的軟件的設(shè)計(jì)。最終設(shè)計(jì)出了符合控制要求的堆垛機(jī)控制系統(tǒng)。本次設(shè)計(jì)，囊括了大學(xué)期間所識(shí)的方方面面的知識(shí)，是我在以后的學(xué)習(xí)工作之前，對(duì)各個(gè)學(xué)科課程的一次深入的綜合性的練習(xí)，鍛煉了自己發(fā)現(xiàn)問題、分析問題、解決問題的能力，并為以后的工作學(xué)習(xí)打下良好的堅(jiān)實(shí)的基礎(chǔ)。本次設(shè)計(jì)是對(duì)四年以來學(xué)習(xí)的總結(jié)，并鍛煉了總體設(shè)計(jì)的能力。致謝本次設(shè)計(jì)囊括了大學(xué)所學(xué)過知識(shí)的方方面面，任務(wù)量之大是前所未有的，但是在設(shè)計(jì)過程當(dāng)中我從中也學(xué)習(xí)到了很多知識(shí)，同時(shí)也鍛煉了自己的能力。值此論文完成之際，謹(jǐn)向給與我悉心指導(dǎo)和誠摯鼓勵(lì)的呂寧老師致以衷心的感謝！半年來，無論是收集資料還是啟發(fā)思維，我的每一步進(jìn)展，一點(diǎn)一滴的收獲都傾注著老師的大量心血。呂老師不僅專業(yè)知識(shí)掌握的全面扎實(shí)，而且有著活躍而開闊的思維，這些都給我留下了深刻的印象。他的一絲不茍的治學(xué)態(tài)度，以及生活上寬以待人的作風(fēng)深刻的影響著我，必將成為我今后學(xué)習(xí)和工作的力量源泉。還要感謝和我在一個(gè)小組里共同學(xué)習(xí)的同學(xué)們，感謝他們對(duì)我的關(guān)心、指導(dǎo)和幫助，與他們團(tuán)結(jié)、愉快、高效、務(wù)實(shí)的合作，有效的保證了項(xiàng)目的進(jìn)度和課題的順利完成，半年來我們?cè)趯W(xué)習(xí)中互相幫助，探討了很多問題，建立了深厚的友誼。最后還有感謝我的父母，是他們的無私支持，使我能夠全身心的投入學(xué)習(xí)和工作中，去除了身上的浮躁情緒，成為一個(gè)有責(zé)任心的青年。祝愿他們永遠(yuǎn)健康！參考文獻(xiàn)1 吉國宏．自動(dòng)化倉庫—堆垛機(jī)設(shè)計(jì)．中國鐵道出版社，1979：7~402 李全利．現(xiàn)代生產(chǎn)物流電氣控制系統(tǒng)試調(diào)與維護(hù)．機(jī)械工業(yè)出版社，2008：135～1383 劉昌祺．物流配送中心設(shè)計(jì)．機(jī)械工業(yè)出版社，2001：12~204 葛永國．自動(dòng)化立體倉庫控制系統(tǒng)程序設(shè)計(jì)與故障診斷．天津大學(xué)碩士學(xué)位論文，2003：12~765 周奇才、黃孝民．巷道堆垛機(jī)安全機(jī)構(gòu)的設(shè)計(jì)．上海鐵道學(xué)院學(xué)報(bào)，1995：30~366 陳建明，巫付專，熊軍華等．電氣控制與PLC應(yīng)用．電子工業(yè)出版社，2006：3~467 徐紹坤．可編程控制器應(yīng)用技術(shù)．中國科學(xué)技術(shù)出版社，2001：2~308 王兆義．可編程控制器教程．機(jī)械工業(yè)出版社，2001：46~809 元魁，劉偉強(qiáng)．變頻器基礎(chǔ)及應(yīng)用．冶金工業(yè)出版社，1997：1~3310 張桂香．電氣控制與PLC應(yīng)用．化學(xué)工業(yè)出版社，2006：6~7011 吳啟紅．變頻器、可編程序控制器及觸摸屏綜合應(yīng)用技術(shù)．機(jī)械工業(yè)出版社，2010：4~11612 陳伯時(shí)．電力拖動(dòng)自動(dòng)控制系統(tǒng)．機(jī)械工業(yè)出版社，1995：35~13713 吳麗，梅楊．電氣控制與PLC應(yīng)用技術(shù)．機(jī)械工業(yè)出版社，2008：33~7014 劉祖潤，胡俊達(dá)．畢業(yè)設(shè)計(jì)指導(dǎo)．機(jī)械工業(yè)出版社，199515 賀哲榮．三菱FX2系列PLC實(shí)用程序及設(shè)計(jì)．西安電子科技大學(xué)出版社，2001：5~7016 L．Janovsky．Elevator Mechanical Design Principles and Concepts．London：Englang Ellis Horwood Limitted，1987：117~124，128~13117 W．P．Dayawansa，D．chengetal．lobal(f,g) invariant ceofnonli near systems．SLAMJ．Contr．Opimiz，1988：1119~113218 H．Sun．Y．H．Lee．S．Y．Lim and M．H．Lee．A Performance Estimation Model for AS/RS by M/G/1 Queuing System．Computers and Industrial Engineering，2004：233~241附錄AAn Analysis of Dual Shuttle Automated Storage/Retrieval SystemsBrett A. PetersAbstractThis paper addresses the throughput improvement possible with the use of a dual shuttle automated storage and retrieval system. With the use of such a system, travel between time in a dual mand cycle is virtually eliminated resulting in a large throughput improvement. The dual shuttle system is then extended to perform an equivalent of two dual mands in one cycle in a quadruple mand mode (QC). A heuristic that sequences retrievals to minimize travel time in QC mode is developed. Monte Carlo simulation results are provided for evaluating the heuristic39。s performance and show that it performs well, achieving large throughput improvements pared with that of the dual mand cycle operating under the nearest neighbor retrieval sequencing heuristic. Keywords Automated Storage/Retrieval Systems Design。 Automated Storage/Retrieval Systems Operation。 Material Handling Systems。 Performance Modeling and Analysis IntroductionAutomated storage/retrieval systems (AS/RS) are widely used in warehousing and manufacturing applications. A typical unit load AS/RS consists of storage racks, S/R machines, link conveyors, and input/output (I/O) stations. An important system performance measure is the throughput capacity of the system. The throughput capacity for a single aisle is the inverse of the mean transaction time, which is the expected amount of time required for the S/R machine to store and/or retrieve a unit load. The service time for a transaction includes both S/R machine travel time and pickup/deposit time. This time typically depends on the configuration of the storage rack and the S/R machine specifications. Han et al. improved the throughput capacity of the AS/RS through sequencing retrievals. Intelligently sequencing the retrievals can reduce unproductive travel between time when the S/R machine is traveling empty and thereby increase the throughput. They develop an expression for the maximum possible improvement in throughput if travel between is eliminated for an AS/RS that is throughput bound and operates in dual mand mode. In essence, this means that if the S/R machine travels in a single mand path but performs both a storage and a retrieval operation, the above throughput improvement could be obtained.In this paper, we analyze an alternative design of the S/R machine that has two shuttles instead of one as in a regular AS/RS. The new design eliminates the travel between the storage and retrieval points and performs both a storage and a retrieval at the point of retrieval, thereby achieving the maximum throughput increase calculated by Han et al. The dual shuttle AS/RS is a new design aimed at improving S/R machine performance. most studies on AS/RS systems have been based on a single shuttle design. In our analysis of the dual shuttle AS/RS performance, we build upon these previous research results. Alternative S/R Machine DesignA typical unitload AS/RS has an S/R machine operating in each aisle of the system. The S/R machine has a mast which is supported at the floor and the ceiling and travels horizontally within the aisle. Connected to this mast is a shuttle mechanism that carries the unit load and moves vertically up and down the mast. The shuttle mechanism also transfers loads in and out of storage locations in the rack. Figure 1 provides an illustration of the single shuttle S/R machine. Figure 1. Single Shuttle S/R Machine Design A typical single shuttle AS/RS can perform a single mand cycle or a dual mand cycle. A single mand cycle consists of either a storage or a retrieval. For a storage, the time consists of the time to pickup the load at the I/O point, travel to the storage point, deposit the load at that point, and return to the I/O point. The time for a retrieval is developed similarly. A dual mand cycle involves both a storage and a retrieval in the same cycle. The cycle time involves the time to pickup the load at the I/O point, travel to the storage location,