Research On Algorithm Of Load Moment Limiter For Articulating Boom Crane

Because of its advantages of flexibility, convenience and multifunction, the articulating boom crane has been used in many fields by many people. At the same time, both consumers and manufacturers pay more and more attentions on its safety. Load moment limiter is the mandatory device installed on the crane to prevent overloading. Because of the differences in structure and properties, load moment limiter used on the articulating boom crane is different from that used on the usual truck crane. In this paper, a new kind of load moment limiter is designed according to the feature of articulating boom crane in the background of the cooperation projects between Construction Machinery Research Center of DUT and Shanghai Pai-fen Automatic Control Technology Co. Ltd.The main content is as follows:(1) The computational algorithm of load hook’s coordinate is proposed. By Setting coordinate systems on specific positions of the articulating boom, the coordinate of load hook is deduced based on the method of homogeneous coordinate transformation, videlicet the vertical and the horizontal ranges of boom is calculated. Then, the model of articulating boom is built in ADAMS. The comparation between the result of calculation and the measured parameters via kinematical simulation proves the correctness and accuracy of the algorithm.(2) Depending on the analysis of rated load chart, the mathematical model of the two-dimensional load chart is built by the method of least-squares curve-fitting. Then the rated load can be calculated according to the coordinate of boom.(3) The algorithm of output of load moment limiter is proposed. The dangerous actions of crane in the case of overload are distinguished and forbided by load moment limiter in accordance with the crane’s position and attitude.(4) The hardware and software system of the load moment limiter for articulating boom crane is built in this paper. Including the selecting of different kinds of sensors, controller and display. At last, the controller and the man-machine interface program are designed and tested.The load moment limiter researched in this paper provide a new method to monitor and control the articulating boom crane with two-dimensional load chart, and the new tapy of load moment limiter will has a broad prospect of application in the future.