Load's 2-Degree of Freedom Swing Angle Model and Dynamic Simulation for Overhead Crane or Gantry Crane

. Exactly positioning of the trolley and promptly eliminating of the load swing for bridge crane are efficient approaches in order to improve the operational efficiency of over-head cranes and 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 while studying anti-swing control scheme. Construct 2-degree of freedom angel’s math model of the load-swing through constructing the trolley-load system’s dynamic 3-dimention (3-D) equations, and properly simplify those equations. The rope’s length of load and trolley-acceleration can obviously affect the swing angel’s value of load. Dynamic simulation results show that the rope-length’s force is more prominent than the trolley-acceleration’s for the swing angel of load and the trolley’s running acceleration (deceleration) can obviously affect the value of load’s swing angle when the rope length is determined, the value will increase with increasing acceleration (deceleration), and the trolley’s running acceleration (deceleration) can not obviously affect the load’s swing frequency.