A comparative study on the dynamic response of intelligent anti-sway system dynamic models for gantry cranes

Gantry cranes are often modeled as single-pendulum systems, but when the hook mass is similar to the load mass or when the distance between the hook and the load’s center of gravity is large, traditional control methods may fail to control sway effectively. This study derived the dynamic equations for single and double-pendulum models using the Lagrange equation. The PID algorithm was employed for Intelligent anti-sway control, and MATLAB simulations were used to evaluate the maximum error in swing angle amplitude between the models. It was stipulated that when the maximum error of the swing angle amplitude between the single and double pendulum dynamic models is within 10%, the single pendulum model closely approximates the double pendulum model. The research results indicate that when the ratio of pendulum lengths between the single and double pendulum models is greater than or equal to 1:0.3, the payload is within 0.5 kg, or the ratio of pendulum lengths is greater than 1:1.4, the maximum error of the swing angle amplitude between the two models is within 10%. Moreover, the larger the ratio of pendulum lengths, the closer the performance of the two dynamic models.