Feedforward control input generation method for a crane system with restrictions on drive system

This study proposes a feedforward (FF) control input generation method that can realize automatic anti-sway transport of suspended load for crane system with restrictions the trolley only accelerate or decelerate at constant rate; switching frequency acceleration cannot be too high. First, time-continuous FF is derived by using time-polynomial (FFT) method, which basis our method. Next, FFT approximated pulse width modulation (PWM) input. In this case, may unable to suppress sway because modeling error in deriving and quantization approximating PWM To solve these problems, we propose update type (UFFT) evaluates residual time interval updates original Finally, effectiveness UFFT confirmed through simulations experiments. Our achieve reduces effects errors setting appropriately. It search even when controller not