Abstract

Perfect positioning of the trolley and eliminating of the load swing for bridge crane are effective approaches in order to improve the operational efficiency of gantry cranes. So, it is necessary that model construction for dynamic equations of the trolley-load system and finding out load swing rules and decision factors of load’s swing angel. Construct 2-degree of freedom angle’s mathematical model of the load-swing through constructing the trolley-load systems dynamic 3-dimention (3-D) equations. The rope’s length of load and trolley-acceleration can affect the swing angle’s value of load. The load’s 3- dimensional service space area is composed of the cranes running direction, trolley’s running direction and load’s hoisting direction. Generally, the trolley and load of the crane are connected by the flexible wire rope. So this connection mode can decrease dynamic load, improve the flexibility of lifting and transporting goods, decrease systems power consumption, but also aggravate load’s swing and increase positioning’s difficulty for trolley and decrease system’s working efficiency. In this paper, the crane trolley-load systems nonlinear dynamic model was constructed. The highly nonlinear dynamic model was linearized based on the crane-trolley-load system’s basic geometrical model. The load’s swing rules and swing angles influencing factors were studied. The ropes length of load and trolley’s running acceleration can affect the swing angles value of load.

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