Parameter identification and controller design for high-rack feeder systems and fork lifts

摘要

Fast and precise storing and retrieving processes are essential in a well-functioning warehouse. Floor space is expensive and limited and leads to high-bay warehouses also requiring special order picking trucks adapted to impressing heights. During the transportation of pallets and due to the lateral and rotating movements of the fork, oscillations occur in the entire truck which not only limits the working precision but also affect the material and may lead to earlier machine fatigue. This becomes an even bigger problem when lightweight structures are used for economic reasons and active damping becomes urgent for both the truck and the driver's safety. In this paper, a control approach is presented for an order picking truck based on a simplified linear parameter-varying model. Experimental measurements will be used for parameter identification and the evaluation of a first implementation. Simulations complete the investigated approaches and give information for future measurements.