Modeling of Crane System with Actuator Responsive in Three-Dimensional Space

  • Nguyen Trung Thanh Hung Yen University of Technology and Education
  • Nguyen Thi Thu Hang
Keywords: Dynamic model, 3-D crane, actuator, Euler- Lagrange method, time and frequency domain, power spectral density.


Crane is used very popular in industry, in the military power to move heavy loads, or assemble large structures. But the swing of load threatens safety and affects work efficiency. To have modern controll solutions to improve efficiency when working under the right parameter conditions, it is necessary to have a complete and accurate crane model. Based on the Euler-Lagrange method of describing the movements of loads in the longitudinal, horizontal and lifting directions combined with actuator dynamics is a quite complete solution to arrive at a complete crane dynamic model in three dimensions. Reserch shows some effects in changing of model parameters on the output response of the load on the time and frequency domain and they are analyzed through simulation results and conclusions.


Y. Sakawa and Y. Shindo, “Optimal control of container cranes”. Automatica, 1982, vol. 18, no. 3, pp. 257-266.

Ismail, R.M.T.R., Ahmad, M.A., Ramli, M.S. and Rashidi, F.R.M., “Nonlinear Dynamic Modelling and Analysis of a 3-D Overhead Gantry Crane System with Payload Variation”, Third UKSim European Symposium on Computer Modeling and Simulation, 2009, pp. 350-354.

Piazzi, A. and Visioli, A., “Optimal Dynamic-inversion-based Control of an Overhead Crane”. IEE Proc. Control Theory Application, 2002, vol. 149, no. 5, pp. 405-411.

B. D’Andrea-Novel and J. M. Coron, “Stabilization of an overhead crane with a variable length flexible cable”. Computational and Applied Mathematics, 2002, vol. 21, no. 1, pp. 101-134.

Y. B. Kim, D. H. Moon, J. H. Yang, and G. H. Chae, “An anti-sway control system design based on simultaneous optimization design approach”. Journal of Ocean Engineering and Technology (in Korean), 2005, vol. 19, no. 3, pp. 66-73.

Ahmad, M.A., Mohamed, Z. and Hambali, N., “Dynamic Modelling of a Two-link Flexible Manipulator System Incorporating Payload”. 3rd IEEE Conference on Industrial Electronics and Applications, 2008, pp. 96-101.

Blajer, W. and Kolodziejczyk, K., “Motion Planning and Control of Gantry Cranes in Cluttered Work Environment”. IET Control Theory Applications, 2007, vol. 1, no. 5, pp. 1370-1379.

Chang, C.Y. and Chiang, K.H., “Fuzzy Projection Control Law and its Application to the Overhead Crane”. Journal of Mechatronics, 2008, vol. 18, pp. 607-615.

Fang, Y., Dixon, W.E., Dawson, D.M. and Zergeroglu, E., “Nonlinear Coupling Control Laws for an Underactuated Overhead Crane System”. IEEE/ASME Trans. On Mechatronics, 2003, vol. 8, no. 3, pp. 418-423.

Spong, M.W., Hutchinson, S. and Vidyasagar, M., “Robot Modeling and Control”, New Jersey: John Wiley, 2006.

How to Cite
Nguyen Trung Thanh, & Nguyen Thi Thu Hang. (2021). Modeling of Crane System with Actuator Responsive in Three-Dimensional Space. UTEHY Journal of Science and Technology, 32, 13-19. Retrieved from