Frequency-modulation input-shaping strategy for double-pendulum overhead cranes undergoing simultaneous hoist and travel maneuvers

Large payloads hoisted by overhead cranes exhibit the same behavior as that of a double-pendulum. Changes in hoisting cable length during payload transfer maneuvers give rise to time-dependent system frequencies rendering input-shaped commands ineffective. In this paper, frequency-modulation input-shaping strategy enables simultaneous hoist and travel using single-mode is presented. This utilizes model-based feedback partial linearization techniques. Simulations are carried out arbitrary combined with common zero-vibration (ZV) zero-vibration-derivative (ZVD) input-shapers. Sensitivity analysis reveals robust performance presence high uncertainties.