Patent ID: 11858784
Assignee: TADANO LTD.
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 3:
4. A control system for a crane in which an actuator is controlled based on a target speed signal relating to a moving direction and a speed of a load, the control system comprising:
a feedback control section configured to compute a target course signal for the load by integrating the target speed generate a first correction target course signal by subtracting a signal relating to the current position of the load from the target course signal, and compute a target position of the load based on the first correction target course signal; and
a feedforward control section configured to adjust a weight coefficient of a transfer function representing a characteristic of the crane based on the first correction target course signal and correct the first correction target course signal by an output generated based on the target speed signal and the transfer function with the weight coefficient adjusted,
wherein each time the target course signal is corrected in the feedback control section, the weight coefficient of the transfer function is adjusted by the feedforward control section.