| 摘要 |
The invention relates to a method for controlling a rack operating device (1). The rack operating device comprises: a chassis (3), which bears a mast (5) and which has a traversing drive (4); a load holder (6), which can be moved along the mast (5) by means of a lifting drive (10); and a control device (11) for the traversing and lifting drives (4, 10). The traversing and lifting drives (4, 10) are controlled by means of target values, which take into account the dynamic behaviour of the rack operating device (1), in order to move the chassis (3) and the load holder (6) in accordance with the specifications determined by the particular initial position and end position and the particular load (7). In order to create advantageous control conditions, it is proposed that the target values required for the control of the traversing and lifting drives (4, 10) in accordance with the specifications are calculated numerically on the basis of a simulation model of the rack operating device (1) for all specification combinations and are stored in tabular form with assignment to the individual specification combinations and that the control device (11), in order to move the chassis (3) and the load holder (6) in accordance with a specification combination, controls the traversing and lifting drives (4, 10) by means of the target values stored in tabular form for said specification combination. |
