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The Control Design of the AS/RS Based on the Embedded Motion Controller

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Tutor: MaShuHua
School: Northeastern University
Course: Control Theory and Control Engineering
Keywords: Automated Storage & Retrieval System (AS/RS),embedded motion controller,Windows
CLC: TP273.5
Type: Master's thesis
Year:  2009
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Automated Storage & Retrieval System has been the new storage style in the field of modern logistics. It becomes the high-tech-intensive mechanical and electrical product integrating information, storage, manage. Because of its saving work force, quick and accurate, improving storage rate, reducing the logistics charge, it will be given more and more application. At the same time, we research the embedded operate system, dur to the advantages including compactness, real-time, stabilization and so on, it will be given more and more attention.Combine the application of computer, communication and information technology, this article focus on the automation control of the AS/RS. The research on the AS/RS in this paper is not based on the PLC but rather the embedded motion controller. The controller is a complete embedded system formed by the X86 embedded processor and the windows CE.net operating system. Research the current popular embedded system, compare, analysis and choose the Windows CE system as the software platform; focus on the Windows CE operating system architecture, characteristics, application development environment and the main points. Combining the software development, we choose the Embedded Visual C++(EVC) as the editor which can give a good human-computer interaction by the application interface.This paper achieves the four-axis trajectory control movement emulation using embedded motion controller and EVC, completing the shelves, cranes, stackers, and the motion control tasks. At the same time, the path optimization of the stacker is also the research point, analyzing and adopting the popular Genetic Algorithm (GA). At last, we get the optimal path by comparing ordered crossover and greedy crossover.
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