@article{oai:muroran-it.repo.nii.ac.jp:00010914,
 author = {Matsui, Kosuke and KAJIWARA, Hidekazu and 梶原, 秀一},
 journal = {MECHANICAL SYSTEMS AND SIGNAL PROCESSING},
 month = {},
 note = {application/pdf, This study proposes a feedforward (FF) control input generation method that can realize automatic anti-sway transport of a suspended load for a crane system with restrictions that the trolley can only accelerate or decelerate at a constant rate; the switching frequency of the acceleration input cannot be too high. First, a time-continuous FF control input is derived by the FF control input generation using the time-polynomial (FFT) method, which is the basis of our method. Next, the FF control input derived by the FFT method is approximated using the pulse width modulation (PWM) control input. In this case, the derived FF control input may be unable to suppress the sway of the suspended load because of the modeling error in deriving the FF control input and the quantization error in approximating the FF control input by the PWM control input. To solve these problems, we propose the update type FF control input generation using the time polynomial (UFFT) method, which evaluates the residual sway at a constant time interval and updates the original FF control input derived by the FFT method. Finally, the effectiveness of the UFFT method is confirmed through simulations and experiments. Our method can achieve anti sway transport that reduces the effects of modeling and quantization errors by setting the update frequency of the FF control input and the PWM frequency appropriately. It can search the FF control input that can suppress residual sway even when the control input switching frequency of the controller is not high.},
 title = {Feedforward control input generation method for a crane system with restrictions on drive system},
 volume = {170},
 year = {2022},
 yomi = {カジワラ, ヒデカズ}
}