Modeling and verification for a four-rope crane

摘要

The dynamic model of a four-rope crane is established using Lagrange's equation in the paper. In the model, we consider not only the the swing along with the rope, but also the rotation of the payload around itself. To provide a more precise description for the dynamic performance of the system, no simplifications are made during the process of modeling. Furthermore, validation of the model under a special situation is also presented. Based on the model, a simulation platform is constructed for further analysis and controller design. Both simulation and experimental results are presented to show the correctness of the dynamic model.