Modeling and simulation for a 3D overhead crane

The dynamic model of a 3D overhead crane system is established by utilizing Lagrangepsilas equation. In the model, not only the motion of the trolley in horizontal plane, but also the variation of the rope length is considered, to provide a precise description for the dynamic performance of the system states. Furthermore, the main nonlinear disturbances existing in the environment, such as the dynamic and static mechanical frictions, air resistance and so on, are also included in the model. Based on the dynamic model, a simulation platform of a 3D overhead crane is constructed for further system analysis and controller design. Simulation results show the correctness of the dynamic model and the validity of the simulation platform.