Travel-time model of dual-command cycles in a 3D compact AS/RS with lower mid-point I/O dwell point policy
针对三维紧凑型自动存取系统，在低位中点驻留点策略下，建立了双指令周期的行程时间模型，通过仿真验证并用数值实验比较了双指令与单指令周期的性能，发现双指令周期在单指令周期时间上更优。
Three-dimensional compact automated storage/retrieval systems (AS/RS) have been extensively applied in warehouses, with advantages of full automation, time efficiency and high space utilisation. While previous studies that use lower mid-point input/output (I/O) dwell point policy consider single-command cycles (SC), this paper builds travel-time models of dual-command cycles (DC). The S/R crane also dwells in the lower mid-point of the rack when it is idle. We validate analytical models using simulation and use analytical models to optimise system dimensions. Numerical experiments are used to compare DC with SC. The results show that DC outperform SC in terms of cycle time of one command.