Dynamic analysis and modeling of three-dimensional crane incorporating payload

Abstract

This study developed the efficient dynamic models and system dynamics analysis on three-dimensional (3D) crane with a default load. The direction of movement that will be discussed in the 3D crane system is the simultaneous movement on the X axis, up and down in the direction of the Y axis and simultaneously moving in the direction of the Z axis. The dynamic equation of movement of the 3D crane system uses the Lagrange method and nonlinear differential equations. System dynamics analysis was performed using Matlab/Simulink to observe dynamic behaviour in the 3D crane system in the time domain and frequency domain. The response of the 3D crane system includes rail position, trolley and default load response, and default load swing angle. The results showed for the swing angle, α showed a swing angle that was significant at ± 0.09 rad, while the swing angle, β shows a significant angle at ± 0.07 rad. The system oscillates at ± 0.009 rad.