Figure 15
The image consists of four graphs arranged in a two-by-two grid. Graph (a) illustrates force in newtons against time in seconds, showing significant fluctuations with a sharp negative peak around ten seconds. Graph (b) also depicts force in newtons, characterized by smaller variations but similarly shows a notable dip at around ten seconds. Graph (c) presents velocity in meters per second over time, highlighting rapid changes with spikes both above and below the zero line, particularly between twenty and forty seconds. Lastly, graph (d) represents velocity, displaying subtler oscillations and a peak nearing the third interval, where it fluctuates between approximately minus fifteen and fifteen meters per second. Each graph shares consistent axes labeled appropriately, with the x-axis representing time in seconds and the y-axes denoting force in newtons or velocity in meters per second.Experimental results of two-dimensional test
Note(s): Force F and crane velocity command vac of x-direction and z-direction are presented in the plots (a) and (b), and (c) and (d), respectively