Dynamics of a Long Payload Transported by Two Bridge Cranes

In this paper, the dynamics of long payload transportation via two bridge cranes in three dimensions is studied. The position of the cranes is known, and it is used as a kinematic coercion. Using the independent variables, equations of motion are derived. Two types of crane motion are considered: the Cubic Spline Trajectory (CST) and the trapezoidal one. Numerical simulations are compared with experimental results from the literature on the long payload moving in one plane. Qualitatively similar results were obtained. The anti-swing control is verified and compared with each function of the motion. The difference between the distance of the cranes’ bridge and payload’s anchorage length is considered. It does not reveal any relevant improvement of the anti-swing cargo control. The considered model can be used in the anti-swing wind excitation control system in future work. Also, this work can be used to investigate the energy harvesting system in long payload transportation.