| 摘要 |
The invention describes a method and a position control system (22'') for controlling operation of a computer-controlled load handling device, with a displacement drive for a displacement unit, a lift drive for a vertically displaceable lifting unit and an actuator drive for a loading and unloading device, and a computer predefines a target position for the displacement and lifting units and loading and unloading device and controls the travel to it. Time-minimized reference trajectories are set first of all, optimized with respect to the maximum permissible loads of the load handling device and with respect to the displacement between the start and target positions, and from these, the desired trajectories are calculated for desired positioning forces (Fxsoll, Fysoll, Fzsoll) of the displacement and lifting units and the loading and unloading. The displacement, lifting and actuator drives receive the desired positioning forces (Fxsoll, Fysoll, Fzsoll) in timed cycles and are controlled by them as they move along the desired trajectories, and dynamic deformations of the load handling device which occur during the acceleration and deceleration phase are reduced to zero by the instant the deceleration phase ends on the basis of the desired trajectories during the automatic control operation.
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