In order to reduce commissioning cycle and cost and predict system-level risk in advance,a design method of fixed rail logistics picking virtual commissioning system based on digital twin was proposed,which was based on the consistency of virtual and real characteristics of digital twin.According to the characteristics and commissioning requirements of fixed rail logistics picking system,the virtual physical model,virtual execution system and virtual control system were established.Then the controller-virtual model interface was designed to realize the communication between virtual and real.The effectiveness and practicability of the virtual debugging based on the digital twin model were verified by an example of logistics picking system.The virtual debugging system of fixed rail logistics picking based on digital twin can reduce the debugging cycle and cost of logistics picking system,and then improve the debugging efficiency.