Dynamic Modeling and Validation of Dual-Cable Double-Pendulum Systems for Gantry Cranes

This paper presents a novel dynamic modeling framework for gantry crane systems based on the cart double pendulum with dual cables (CDPD) model. The CDPD model systematically incorporates the effects of dual suspension cables, equalizer beams, and closed-chain kinematic constraints, enabling an accurate simulation of both symmetric and asymmetric lifting scenarios. Utilizing Kane’s method, the model efficiently handles redundant coordinates and holonomic constraints, resulting in a compact and numerically robust formulation. Validation results demonstrate strict energy conservation and consistency with traditional models in limiting cases. The proposed approach provides a unified and extensible foundation for the advanced analysis, control, and optimization of large-scale gantry crane operations.