1TheDesignofStereoscopicWarehouseStackerMotionandControlSystemAbstract.Withthecontinuousimprovementofindustrialautomation,automatedwarehousehasbeenwidelyusedinvariousindustriestoimprovetheproductionefficiencyandLogisticsspeedtoagreatextent.Asanessentialequipmentofautomatedwarehouse,stackerworkingefficiencyandstableperformancewillaffecttheusabilityofthewarehousedirectly.Thisessaystudiesthetunneltypestackinginmachinespeedcontrolsystemofanautomatedwarehouse,andanalysisitsmotioncurves.Thenwecombineitwiththestackerscompositematerialstructuretoguaranteebettermotioncontrolaccuracyandmotionreliability.Keywords:stereoscopicwarehouse,stacker,motioncontrol.1IntroductionModernautomatedwarehouseisamodernwarehousewhichuseshigh-dimensionalshelftostorematerials,andtocontrolmanagementbycomputersandmakingaccessrolebyautomaticstackingtrucks.Inrecentyears,stereoscopicwarehouseshashighlyimprovedrelatedenterprisesproductionandlogisticsspeed.Stackerisanimportantandindispensableequipmentinastereoscopicwarehouse,itsworkingefficiencyandstablefunctionaffectsstereoscopicwarehouseefficiencyandeconomicbenefitsfundamentally.Asawhole,stackersevaluationperformanceincludes：liftingspeed,runningspeed,goodsforkingspeed,andstabilityandaddressrecognitionaccuracy.Amongalltheevaluationperformances,thestackersspeedistheessentialfactor,becauseitcancontrolcandeeplyaffectthestability,thevibrationsituation,andaddressrecognitionaccuracyofstackersoperation.So,makingIn-depthresearchinstackersmotionsituationandspeedcontrolsystemisextremelyimportant,itcanhelpustomakesackerswithhighefficiency,morestableandlargermotionrange.2MotionControloftheStacker2.1AbstractAnstackersmotioncontroltechnologymainlyreflectsinitsmotionspeedcontrol,Nowadaysthereareseveralmethodsofstackersmotionspeedcontrol,asbeenshowedbelow：1）Multi-rangespeedcontrolmode.Thiscontrolmodeisbuiltinacertainusagefoundation.2Whenitsworking,wemustconsiderthestackersactualcontrolneedanditalsocanusesub-fileoperationmodeaccordingtorelevantexperience.Toalargeextent,thismodeneedscoordinationexercisecontrolanditalsorequiresdealingwithInvertersperformance.2)Usinginvertertocompletetheclosed-loopspeedstackerandstackercontroldisplacementsopen-loopcontrol,usually,theStackersidealmotioncurvecanbeconcludedtoStandardaccelerationanddecelerationcurves.Afteronemotionsexperimentalcurvebeingconfirmed,itcanbestoredinastoredandwecanusePLCtocontroltheinvertertochangethemotioncurve,thusweachievethepurposeofaccuratespeedandstop.3)Therearesomeproblemsintheturningpointinspeedandaccelerationswitchofstackermovementfunctions.Tosolvethisproblem,wecanusethefuzzycontroltechnologytomakereasonableimprovement.Amechanicalprocessingfactoryswarehouseismainlyusedformould、thestorageofsemi-finishedproductsandfinishedproductsprocessing.Ithasthefunctionofautomaticmanagementstoreitems.Thedepositproductforstackerdepositrequirementistakenmustbefast,stableandreliable.ThecontrolsystemadoptsPLCasthemastercomponents；ithasagreaterflexibilityandhighreliability.Warehousestackerusescommonstackermachine,theweightisof0.25-1.5tons,anditsoperationspeedisfromtwentyfivetoonehundredandeightymetersperminute.Itmainlycomposedofthebody,thelevelofoperatingagencies,verticalhoistingmechanism,telescopicforkloadingstationandinstitutionsandseveralothercomponents.Themainstructureofstackermachineisasshowninfigure1below:3Fig.1.Stackermachinesmainstructure2.2TheSetoftheVelocityoftheStackerFromthemainstructureofstackermachine,wecanalsoknow,tuckersmajorsportsincludesthreebasicaction,theseare：levelofmovementmechanism、theverticalliftingmechanismsupanddownmovement、adjustableactioningoodsforktelescopicmachine.So,stackersfinaltaskefficiency,itsmovementandperformanceisalsodecidedbythesethreemovementsofthebasiccontroldegree.Whenstackingmachineismoving,toensurethemovementissmoothandreliable,wemustensurethatthestopregistrationofmovementsaccuracyanditsmovementsflatnessbysomecertaincontrolstrategy.Themethodofmotionspeedistoadjusttheoperatingcurve,andthenstoreditincontrolmemory.WhenPLCiscontrollingthemotion,throughchangingthecurvewhichisstoredintheinverterwecanachievethepurposeofaccuratespeedandstop.Levelspeedsettingmechanismissettledforfourgears,thesearecrawling,lowspeed,middleandhighspeed.WhenPLCiscontrollingthemotion,itreceivesthedestinationaddressfromacontroller,thenitComparethecurrentaddresstothedestinationaddress,andcalculatethedistancefromcurrentaddressdistancetodestinationaddress.Makeagoodsdistanceasaunitdistance.Whenthedistanceislargerthansixunitsdistance,itusethemotionmodeofcurvea,anduseproperaccelerationspeedwhenstartsandstops,toensuretheprecisionoftheprospectivestop.Italsousemaximumspeedtooperateinthemiddlelocation.Thusitcanimprovetheefficiency.Whenthedistanceislessthansixunitsdistanceyetgreaterthantwounitsdistance,itusethemotionmodeofcurveb.Andwhenthedistanceislessthantwounitsdistance,itusethemotionmodeofcurvec.4Fig.2.ThegraphoflevelmechanismsspeedSimilarly,theverticalliftingoperationofliftingmechanismsetsthreedifferentspeeds.Whentheoperationisnormal,itadoptshighspeedtoimproveefficiency.Whenitapproachesthetarget,itdowntolowspeedinordertoraisethestopprecision.VerticalliftingmechanismsspeedcurveisasshowninFig.3:Fig.3.ThegraphofVerticalliftingmechanismTheroleoftheforktelescopicmachinegoodsisthroughthetelescopicmovementtoputcorrespo