raspberries out of control

Help, I'm not an experienced gardener.  I've had the raspberries in a few years now and although they've been quite successful and we have plenty of fruit on them, I've never really been able to control them properly to get the best from them, they even killed the rhubarb a couple of years ago 

Last year I chopped them right down and put a sort of frame in, three canes wide with a couple going cross ways as well, but once they got going they've engulfed the frame and knocked it over.  There was a lot of fruit on there, but with it being so wild you can't even reach a some of it.
 
So just wondering, what's the best way to sort them out now ready for next year?  should I dig some of it up? what kind of pruning do they need?  And advice greatly received, they even come up in the lawn, I'm sure they'd take over given the chance

How you prune and tie them in depends on whether they are summer or autumn fruiting varieties.
Do you know what you have growing?

Pruning advice here
http://www.gardenersworld.com/how-to/grow-plants/how-to-prune-summer-fruiting-raspberries/