Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.007a.svgz" name="5703820.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>ZV acceleration commands</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.007b.svgz" name="5703820.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>ZVD acceleration commands</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.007c.svgz" name="5703820.fig.007c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>ZV + FM acceleration and velocity</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.007d.svgz" name="5703820.fig.007d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>ZVD + FM acceleration and velocity</td></tr><tr class="fig-image" id="e"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.007e.svgz" name="5703820.fig.007e" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(e) </b>ZV + FM payload oscillations</td></tr><tr class="fig-image" id="f"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.007f.svgz" name="5703820.fig.007f" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(f) </b>ZVD + FM payload oscillations</td></tr></table>

<div>Simultaneous travel and hoisting maneuver using FM shaped command.</div>

Shock and Vibration

fig7

Figure 7

Figure 7: Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation 