Narrow aisle truck with measures for preventing mast vibrations and for compensating for mast deformations

A narrow aisle truck, comprising:

• a vehicle body having a length direction and a width direction;
• wheels assigned to the vehicle body and arranged on two axes running in the width direction of the vehicle body and configured to drive and steer the narrow aisle truck when driving on a driving surface;
• a drive system configured to exert an acceleration torque on at least one of the wheels;
• a mast extending substantially vertically, between the two axes, with respect to the length direction of the vehicle body wherein the mast is movably mounted relative to the vehicle body in a floating manner with respect to a bearing plane by a bearing arrangement, wherein the bearing arrangement allows the mast to pivot relative to the vehicle body with respect to at least two degrees of freedom of movement;
• at least one detection unit configured (A) to detect at least one state parameter of one or more of (i) the narrow aisle truck or (ii) surroundings of the narrow aisle truck and (B) to output corresponding data;
• at least two actuators, each actuator of the at least two actuators configured to move the bearing arrangement relative to the vehicle body to cause pivot movements of the mast relative to the vehicle body, each pivot movement corresponding to a respective degree of freedom of the at least two degrees of freedom;
• and
• a control unit operatively coupled to the at least one detection unit and the at least two actuators and configured to:
• determine a current state of the narrow aisle truck based on the at least one state parameter detected by the at least one detection unit;
• determine an effect of an actuation of one or more of the at least two actuators on the current state;
• and
• activate at least one of the at least two actuators to reduce a difference between the determined current state and a predetermined target state, wherein the predetermined target state corresponds to the mast being vertically aligned regardless of a slope of the driving surface.