Abstract
To address the problem of excessive swing amplitude and potential safety hazards associated with traditional A-frame cranes during operation, this study proposes a cable-driven wave compensation system. Based on this system, comprehensive kinematic and dynamic models were established to analyze the swing characteristics of the payload. First, the inverse kinematics model of the compensation device was derived using the vector loop closure method, and the system dynamics models were formulated through both the Newton–Euler and Lagrangian approaches. Then, under practical operating conditions, MATLAB-ADAMS co-simulation was conducted to investigate the spatial motion of the lifting point and the variation in the in-plane and out-of-plane swing angles of the payload. Combined with a cable tension distribution algorithm, ADAMS was employed to optimize abnormal tension values, yielding tension distribution curves consistent with realistic conditions and thereby validating the accuracy of the proposed models. Meanwhile, the anti-sway performance of the device under different operating conditions was verified, and the results demonstrated that the proposed system effectively suppresses payload swing and exhibits excellent motion stabilization performance. Finally, several key factors influencing the swing amplitude were analyzed, and swing characteristic curves were extracted to clarify the effects of each factor. Based on these findings, practical operational guidelines with engineering relevance were proposed. The outcomes of this study provide a theoretical foundation for subsequent research on cable tension setting and contribute to the structural optimization and control system development of wave compensation devices.
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