Dynamic Modeling of the Variable Rope Length 3D Crane System of a Bridge Crane
In this paper, a 3D crane system coordinate system is established for a bridge crane in which the rope length is always changing. The position of the grab in the coordinate system is selected as control objectives, while the cable-car displacements and length of the rope are selected as control variables. Lagrange equations are used for the dynamic analysis. A simulation is conducted in MATLAB environment to analyses the angular motion of the rope caused by its length change and the linear motion of the cable-car.
S. J. Dai et al., "Dynamic Modeling of the Variable Rope Length 3D Crane System of a Bridge Crane", Applied Mechanics and Materials, Vols. 130-134, pp. 3759-3762, 2012