Dynamical interaction between double pendulum and nonlinear sloshing in two cranes carrying a liquid tank

The interaction between the double pendulum and nonlinear sloshing in two cranes transporting a liquid tank corrupts the efficiency and safety of the cooperative transportation. Although significant work has been directed at the double-pendulum dynamics of industrial cranes and the liquid-sloshing dynamics in the moving tank, less effort has been focused on the interaction between the double pendulum and nonlinear sloshing. An analytical model of two cranes carrying a liquid tank has been derived in this article. The interaction between the double pendulum and nonlinear sloshing has been captured by the model. Furthermore, a new method has been developed to control coupled oscillations caused by the interaction. Simulated and experimental data obtained from a testbench of two cranes carrying a liquid tank validated the effectiveness of the dynamic modeling and vibration control methods.