Model-Correction-Based Feedforward Anti-Sway Control for Bridge Cranes with Rigid Vertical Slender Payloads

The overall swing dynamics of rigid slender payloads lifted in a vertical orientation deviate significantly from the ideal point-mass pendulum model, leading to severe performance degradation of feedforward control strategies designed based on this simplified model. This paper focuses on the bridge crane system and establishes a double-pendulum dynamic model that accounts for the payload’s mass distribution effect. To compensate for the theoretical error of the linearized model, a data-driven payload swing frequency correction strategy is proposed. Based on this corrected model, a dual-mode Zero Vibration Derivative (Corrected-Dual-ZVD) input shaping feedforward controller is designed. Simulations under eight typical operating conditions were conducted using the Matlab/Simulink control system simulation software. The results show that compared to the controller designed based on the traditional single-pendulum model, the proposed Corrected-Dual-ZVD controller, based on the corrected double-pendulum model, can significantly reduce the maximum residual swing angle of the payload. The average swing angle suppression rate reaches 68.9% across seven valid operating conditions, and it can reach 98.9% under the extreme condition of high speed and short rope length. When model parameters are subjected to ±10% disturbances, the proposed method demonstrates good robustness.