Feedforward Control Design Methodology for a Crane System with Restrictions on Drive System

In this paper, a sway control algorithm is proposed, which can be implemented in a crane system where the acceleration cannot be controlled continuously due to restrictions on the trolley drive system. Our algorithm approximates the feedforward (FF) control input by means of the time-polynomial method (FFT) using the PWM control input, and recalculates the FFT control input with a constant period so that the residual sway is suppressed. This algorithm is called the “Update type FF control using the time-polynomial method (UFFT).” The effectiveness of the UFFT algorithm is verified through multi-degree-of-freedom rigid body simulations, and it is confirmed that the residual sway is suppressed by increasing the update frequency of the FF control input.