Dynamic Modelling and Payload Response Analysis of a 3-D Overhead Gantry Crane

The natural response of payload during lifting or moving is unfavourable to the safe- and right-handed operation of the mobile cranes such as tower, gantry, rough terrain, and floating cranes. Due to the unknown external influences such as payload, wind load, mobile base disturbance, etc., the control problem becomes complex when the payload and the hook generate a double-pendulum effect. This study deals with the dynamic modelling of overhead gantry crane based on nonlinear dynamic behaviours. The dynamic equations of the gantry crane, which is subjected to external force excitation, are derived using Lagrangian approach. The dynamic model is developed for the system, which incorporates the nonlinearly due to the double-pendulum effect. The influence of the system parameters on the response of the crane payload dynamics is discussed. The results encompass both the time and frequency domains that are derived using the developed mathematical model, and simulations are presented. All these studies are performed by developing algorithms in MATLAB.