The dynamic analysis of the slewing-crane using the mathematical model

In the paper, a mathematical model of a general-type slewing crane is introduced, which includes the properties of the suspended payload and the proper-ties of the driving motor. As the motor, the three-phase electric motor is used and its static torque characteristic is modeled. Because of that, the model enables an "insight view" into the electric motor and study of its response on different inputs. As a result, the dynamic changing of the mechanical moment (torque) with the time in the case of the accelerations and the decelerations of the slewing motion is obtained. These data can be used for the selection of the appropriate driving motor. The model, furthermore, enables the study of the payload's pendulum motion. The input parameters can be freely changed and the influence of the changes observed immediately.