Abstract:This paper deals with the dynamical analysis of a crane model. Truss finite elements are used to discretize the suspending chains with the so called updated Lagrangian description. This nonlinear model is regarded to be the best approximation to which linear models are compared. The inertia and independent degrees of freedom are also taken into consideration by linear models. The goal is to find a linear model, which can be used as an observer in antisway control of a crane.

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