AUTOMATIC WAREHOUSES WITH TRANSPORT ROBOTS OF INCREASED RELIABILITY

摘要

The algorithm of optimal control of transport robots for automatic warehouses is considered in the paper. The minimum criterion for a quadratic form was chosen as the criterion of optimality. A quadratic functional of quality that determines the energy of control and displacement is considered. A solution is proposed for a quality criterion that minimizes the energy of control and displacement. The robots control based on a mathematical model is proposed with the calculation of the state matrices and the control matrix at each step. The properties of transport robots system are considered: controllability and identifiability. For a linear stationary system, the criteria for controllability, identifiability and observability as the rank of the extended matrix are chosen. It is proposed to perform diagnostics of drives, electronic control devices and software in a complex manner based on the parametric model and calculation of the identifiability criterion. A large inaccuracy in the measurement results in a larger control error and a loss of controllability. Moreover, with the loss of identifiability, the measurement problem becomes poorly conditioned. This approach will allow to perform complex diagnostics of transport robots system and in time to identify potentially faulty components and exclude them from the system.