Research Article Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation Sameer Arabasi 1 and Ziyad Masoud 2 1 Department of Physics, German-Jordanian University, Amman 11180, Jordan 2 Department of Mechanical Engineering, German-Jordanian University, Amman 11180, Jordan Correspondence should be addressed to Ziyad Masoud; zmasoud@vt.edu Received 21 March 2017; Accepted 2 May 2017; Published 12 June 2017 Academic Editor: Francesco Pellicano Copyright © 2017 Sameer Arabasi and Ziyad Masoud. Tis is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Tis paper presents an input shaping control system for overhead crane operations involving simultaneous hoist and travel maneuvers. Te control system utilizes model-based partial feedback linearization with frequency modulation. Traditional input shaping controllers target specifc system frequencies. Terefore, they are incapable of accommodating the time dependant frequency associated with simultaneous hoist and travel crane maneuvers. Frequency modulation is used to tune the time- dependent system frequency to the design frequency of a primary input shaping controller. Partial feedback linearization is used to eliminate the time-dependent damping of the system. Te primary input shaper frequency is based on lowest operating frequency of the system associated with the longest hoisting cable length operation. Simulations results, using primary zero-vibration (ZV) and zero-vibration-derivative (ZVD) input shapers, are presented. General arbitrary input travel and hoist commands are simulated. Results demonstrate the ability of the proposed control system to eliminate residual oscillations in all simulated cases. 1. Introduction Dynamics and control of cranes have been extensively researched in the past few decades [1, 2]. Tis research was mainly targeting the reduction or elimination of residual vibrations and the reduction of maneuver time. Feedback control [3–5] is usually chosen over open-loop control sys- tems for its robustness to modeling uncertainties. However, they need adding extra hardware components, some of which are expensive and challenging to implement, for example, motion sensors, oscillations angle sensors, and payload sway sensing systems. Such additions are not required for open- loop control systems making it more attractive and cost efective. One approach that uses open-loop control systems is command shaping. Tis approach is used for moving sus- pended objects and/or fexible systems [2]. Starr [6] devel- oped a strategy for swing-free transport of suspended objects. Strip [7] showed that, for simply suspended objects, there is a family of acceleration strategies that are referred to as the double-step command shaping that results in a swing-free motion at a chosen velocity. Input shaping is one of the most widely used command shaping techniques. Input shaping reduces the residual vibra- tions by convolving a sequence of carefully timed impulses with a general reference command signal. However it comes at a price of a large rise-time penalty [8, 9]. Time delay flters where successfully implemented [10] to reduce jerks in input shapers for undamped and damped systems. Singhose et al. [11] compared smooth and nonsmooth commands by interpreting smooth commands as input-shaped functions. Tey concluded that S-curves smooth function must be four times slower than step commands shaped with zero- vibration shapers to eliminate vibrations in single-mode systems. Erkorkmaz and Altintas [12] presented continuous position, velocity, and acceleration profles by imposing limits on the frst and second time derivatives of the feed rate. Hindawi Shock and Vibration Volume 2017, Article ID 5703820, 12 pages https://doi.org/10.1155/2017/5703820