基于五次S型曲線的集裝箱卸貨機(jī)器人平滑啟動(dòng)研究

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中圖分類號：TP242.2 文獻(xiàn)標(biāo)志碼：A 文章編號：1671-5276（2025）03-0192-04

Stable Start Container Unloading Robot Based on Quintic S-shaped Curve

XU Ao，LUHaojie （School 116O24，China）

Abstract：A control system algorithm based on five times ΔS- curve is proposed to solve the problem sudden changes accelerationandplusacelerationinthestartingprocessthecontainerunloadingrobot.Thecontrolsystemtherobotis designedandapropriaterotationalinertiaratioandPIgainparametersareset.Basedontheprinciplequinticpolynomial interpolation，thevelocityplaningthestart-upprocessiscarredout，ndtheexpresionsdisplacement，andvelocity， accelerationandplusacelerationaregiven，onwichsimulationandanalysisareconductedbyMatlabstware.Theresults showthattheproposedalgorithm，compared withthetraditional S-curvecontrolalgorithm，solves theproblemabruptchanges in acceleration and plusacceleration during the start-upprocess，and imrpovesthepeakspeedfluctuationfrom10r/min to 3 （2號 r/min ，upgrading the system stability and operation efficiency.

Keywords：five S-curves；container unloading robot；smooth start；rotational inertiaratio

0 引言

隨著我國經(jīng)濟(jì)的高速發(fā)展，冷鏈集裝箱貨物進(jìn)口量大幅增長。（剩余4043字）