A Novel Dynamic Model for a Crane System with a Flexible Cable and Large Swing Angle

In this paper a novel dynamical model will be developed for an overhead crane with transverse vibrations of flexible cable while considering large angle of the cable/payload swing. The major problem addressed is expressing the dynamic interaction between the cables and other elements in the crane system which demands investigation into boundary induced cable vibrations and large swing angle. The developed model is achieved as an ODE model and it is appropriate enough to design suitable control systems. Thus, to perform the modeling, RayleighRitz discretization method is used to achieve an ODE model for transverse deflection of the cable having finite generalized degrees of freedom. Using the Euler–Lagrange formulation, the dynamical model of the crane system with a flexible cable is obtained. The simulations are performed based on OpenSees model and the developed model to validate the obtained model. To demonstrate the dynamic behavior of crane system, an illustrative example of the crane system with flexible cable moving a lightweight and heavyweight payload is investigated under various conditions. Keywords—Overhead crane system, Flexible cable, Cable vibration, Large swing angle, Transverse vibration