Designing a position control of moving shelf in the smart storage system

Abstract

This paper introduces the research results on a method of designing a control of moving shelf in the smart storage system using a brushless DC motor (BLDC) to ensure that the shelf’s movement is smooth, collision-free and not overturned. After an overview of the mathematical model and control method for the BLDC motor based on the Hall sensors, the paper focused on presenting the design of the speed and the position control in cascade control system, in which the influence of maximum and minimum speed and acceleration is considered. To be able to evaluating of the introduced control method, an experimental model of a shelf drive system using a BLDC was built, in which the STM32 microcontroller was used to program the controllers, calculate the traveled distance and send the control signal to the motor drives. Experiments have been carried out without acceleration limiter and with acceleration limiter when different gain coefficients are applied. Experimental results show that the selection of the reasonable position controller parameter in the case of acceleration limiter will give the best results.