Modeling of a Rope-Driven Self-Levelling Crane

This paper concerns the fields of the eccentric payload crane systems. We firstly introduce a four-rope-driven self-levelling crane system, which can adjust the payload to level precisely and safely by changing the lengths of the ropes. Then, the system model is deduced according to force equation, moment equation principles and geometry restrictions, without considering the acceleration items. Finally, a control strategy is proposed to adjust the system.

1. Introduction

Many kinds of crane systems are widely used in broad industrial areas, such as loading containers in the dock, carrying heavy loads in factory, etc. They make the carrying of the heavy load easier and safer, and promote the produce efficiency. As there are still lots of problems, many researchers engage themselves in the study of all kinds of practical crane systems.