Modeling and Analysis of Joint Motion of the Rope and Trolley in Crane System

Considering the fact that the anti-swing performance and transport efficiency of the crane system are not satisfactory if we just control the velocity of the cable car, we came up with a joint control technology of the rope and trolley in crane system. Firstly, the simplified mathematical model of the cable car system is built. Secondly, the best joint control scheme is discussed by modeling simulating. Finally, the designing of joint control system is analyzed. What’s more, we will carry relevant experiments about the joint control technology in the near future. The data obtained from our experiment will be used to verify our theoretical results of joint control.