基于五次S型曲线的集装箱卸货机器人平滑启动研究

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中图分类号：TP242.2 文献标志码：A 文章编号：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号 r/min ，upgrading the system stability and operation efficiency.

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

0 引言

随着我国经济的高速发展，冷链集装箱货物进口量大幅增长。（剩余4043字）