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The aisle stacking crane which is the most significant loader equipment, is the heart of automated warehouse. There are several performances to show the advantage of the equipment:the walking speed, the promotion speed, the fork of speed, the stability of crane, the vibration and the noise of crane, the accuracy of orientation and so on. The stacker control the speed of the stacker to the smooth running of the vibration, identified the site greater than the impact of accuracy. With the extensive application of automated warehouse, in particular the design of heavy, high-speed, high efficiency, high or greater from the Stacker, Stacker of the speed control is particularly important.At present, China’s Stacker run mostly by the rate of multi-range speed control, this control method can basically meet the needs of control requirements, but there are also inadequate:First, multi-range speed control in the acceleration and deceleration of the paragraph on the impact of Stacker Large column will appear larger deformation, long column would damage caused by fatigue. The second, multi-range speed control, the stacker in the start and stop the moment, the greater the speed of change, column swinging great extent, the goods may happen even offset the risk of declining, in addition, the column deformation of the stacker in the park after the admission, release of goods is very unfavorable.In this paper stacker movement of the mechanical model, its Analysis, in accordance with the mechanical theory derived stacker operation, the beams and columns under the deflection formula to determine deflection value; legislation to establish stacker-the vibration model, pushed to the vibration equation, the post deflection formula into the vibration equation, the stacker running the column vibration caused changes in the deflection of the simulation, take multi-range speed control and S-curve speed control into simulation program respectively, compared stacker column in the deflection, that S-type speed control than multi-range speed control in the control column reduce deformation, improve operational efficiency and reduce the impact on the stacker, such as the number of obvious advantages.
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