The schematic diagram of the crane is given in Fig

Fig: 3DCrane system

There are five measured quantities:

(not marked in fig) denotes the distance of the rail with the cart from the center
of the construction frame;

(not marked in fig) denotes the distance of the cart from the center of the tail;

denotes the length of lift-line;

denotes the angle between the axis and the lift-line;

denotes the angle between the negative direction on the axis and the projection
of the lift-line onto the plane.
Denote also:
- mass of the payload;
- mass of the cart;
- mass of the moving rail;
- coordinates of the payload;
- reaction force in the lift-line acting on the cart;
- force driving the cart;
- force driving the rail with cart;
- force controlling the length of the lift-line;
- friction forces.
The position of the payload is described by the equalities:
(1)
(2)
(3)

The dynamic of the crane is given by the equations:

(4)

(5)

(6)
(
)
(7)

(8)
where
and are components of the force :
(9)
(10)
(11)
it is assumed that the lift-line is always stretched, that is:
(
)
(
)
(12)
In the case where the payload is lifted and lowered with the use of the control force
(4)-(12) should be replaced as follows
(13)
the following symbols are used is the sequel

In order to derive the crane equations, formulas (9)-(11) and (13) are substitude into (4)-(8)
which gives:

(
)
(14)

(
)
(15)
(
)

(16)

(
)
(17)

(
)
(18)
The equations (1)-(3) are differentiated twice with taking into account that the length of the
lift-line ( ) varies in time due to the action of control force , the complete system of
nonlinear state equations for the crane controlled by means three forces is obtained.
)

(
)

(
)

(
)
(
)
)

(
)

(
)
We denote

Finally, we obtain en equations describing the dynamics of the crane with varying pendulum
length

(19)

(20)

(21)

(22)

(23)
(
)

(
)
(24)

(25)

(
)(
) (26)

(27)
(
)

(28)
The denominator in equation (26) includes
When the crane operates in its real range
then
.
The equation which describe the motion of the crane along the y axis, that is, the equations
for
are not connected with the equations for the variables
,
describing the motion along the x axis. The crane can be thus treated as two independent
subsystems.