Modeling and verification for a four-rope crane

The dynamic model of a four-rope crane is established using Lagrange´s equation in the paper. In the model, we consider not only the the swing along with the rope, but also the rotation of the payload around itself. To provide a more precise description for the dynamic performance of the system, no simplifications are made during the process of modeling. Furthermore, validation of the model under a special situation is also presented. Based on the model, a simulation platform is constructed for further analysis and controller design. Both simulation and experimental results are presented to show the correctness of the dynamic model.