| 摘要 |
The present invention relates to a multi-moving rack control method which constructs a moving rack device in which moving racks are separated as modules and installed, groups the moving racks to synchronize a longitudinal direction, a transverse direction, or the longitudinal and transverse directions to transport the moving racks. The multi-moving rack control method includes moving racks (15) modularized in a plurality of rows, a control unit (11) to control the moving racks (15), a moving rack control unit (14), and a communication unit (13) to reduce operating costs by modularizing the moving racks (15), and comprises a moving rack grouping step (s101), a reference point calculation step (s102), a moving speed map calculation step (s103), a cargo weight distribution calculation step (s104); a moving rack acceleration and deceleration pattern correction step (s105), and a control parameter setting step (s106) to perform synchronization control for obtaining a constant drive speed even if weights of the moving racks (15) are different to minimize shaking and twisting and facilitate movement to shorten overall work time. |
