| 摘要 |
A computer (20) that determines a sequence of control vectors (16) using predetermined functional instructions. Each vector includes a number of vector elements (17). Each vector element (17) is designed for a maximum of one final drive unit (2 to 4) of a machine (1). Each control vector (16) comprises at least one vector element (17) for each final drive unit (2 to 4) of the machine (1). There is at least one positioning element (s*) for each final drive unit (2 to 4). The computer (20) stores the determined sequence of control vectors (16) as a control file (11). Once the file has been transmitted to a control unit (6) of the machine (1), the control unit retrieves the control file (11) and executes the stored sequence of control vectors (16). The control unit staggers the execution of successive control vectors (16) by a predetermined clock interval (delta t). The control unit also determines the control state of each final drive unit (2 to 4) of the machine (1) for each instant, using the vector elements (17) that have been determined for said final drive unit (2 to 4) and controls the final drive units (2 to 4) correspondingly.
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