Dynamic Modeling of Double Pendulum Tower Cranes Considering Distributed Mass Payloads and Variable Rope Lengths

Tower cranes play a vital role in various industries due to their extensive workspace and high lifting capacity. How-ever, their underactuated characteristics and complex nonlinear dynamics bring significant challenges for control. Previous studies have primarily focused on models and control strategies for point mass payload single pendulum cranes and point mass payload double pendulum cranes, overlooking practical considerations such as variable rope lengths and distributed mass payloads. To address the problems above, this paper uses Euler-Lagrange approaches to establish a dynamic model considering both distributed mass payloads and variable rope lengths. The proposed model avoids approximation and linearization to ensure accuracy and reliability. This research lays a theoretical foundation for advanced control strategies aimed at improving the safety, efficiency, and accuracy of tower crane operations.