Modelling and Control of an Overhead Crane System with a Flexible Cable and Large Swing Angle

This paper deals with modelling and control of an overhead crane with a flexible cable. The developed dynamical model includes both transverse vibrations of the flexible cable and large swing angles of cable while the trolley is moving horizontally. To carry out the modelling, Rayleigh-Ritz discretization method is used to achieve an ordinary differential equation (ODE) model for transverse deflection of the cable with finite generalized degrees...