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

被引:0
|
作者
Matsui, Kosuke [1 ]
Kajiwara, Hidekazu [1 ]
Ishigaki, Shiita [1 ]
机构
[1] Muroran Inst Technol, Muroran, Hokkaido, Japan
关键词
Feedforward control; Sway control; Crane; Crane Automation; PWM control; 3D OVERHEAD CRANE; SWAY CONTROL;
D O I
10.1109/ICM46511.2021.9385673
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
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.
引用
收藏
页数:5
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