Chaos in overhead travelling cranes load motion

  • Jerzy Margielewicz Silesian University of Technology
  • Damian Gąska Silesian University of Technology
  • Tadeusz Opasiak Silesian University of Technology
  • Tomasz Haniszewski Silesian University of Technology
Keywords: chaos, mechanical vibration, cranes, modelling, Lyapunov exponent


The paper presents the results of numerical investigations of the overhead travelling cranes load motion. The model studies assumes that the load is suspended on the inextensible rope. Conversely, its motion is triggered by an external moment. In addition, energy losses in the construction node connecting the rope to the drum are included. At the same time these losses were mapped through a linear viscous damper. The main objective was to evaluate the impact of individual mathematical model parameters on the dynamics of the transported load. The results were compared between two models: with/without crane structure vibrations included. The results were illustrated by multi-colored maps of the largest Lyapunov exponent, bifurcation diagrams, and Poincare cross-sections.