Abstract
Dynamic response of tower cranes coupled with the pendulum motions of the payload is studied in this paper. A simple perturbation scheme and the assumption of small pendulum angle are applied to simplify the governing equation. The tower crane is modeled by the finite element method, while the pendulum motion is represented as rigid-body kinetics. Integrated governing equations for the coupled dynamics problem are derived based on Lagrange’s equations including the dissipation function. Dynamics of a real luffing crane model with the spherical and planar pendulum motions is analyzed using the proposed formulations and computational method. It is found that the dynamic responses of the tower crane are dominated by both the first few natural frequencies of crane structure and the pendulum motion of the payload. The dynamic amplification factors generally increase with the increase of the initial pendulum angle and the changes are just slightly nonlinear for the planar pendulum motion.
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