(1) The establishment of the model of the tower crane anti-swing system. It is the first work to design tower crane positioning and anti-swing system. Firstly, the force analysis of the tower crane anti-swing system is carried out, and then the nonlinear motion dynamics equation of the crane anti-swing control system is obtained according to the modeling of the Lagrange equation in analytical dynamics, and finally, the different equations of the tower crane anti-swing system are obtained by reasonable simplification, and the characteristics of the system model are analyzed. It provides a theoretical basis for the subsequent verification of the effectiveness of tower crane positioning and anti-swing controller.
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