Research On Algorithm Of Load Limiter For Crawler Crane With Jib

Crawler crane is a kind of widely used mobile cranes. With the increasingly high demand on the safety and reliability of the crawler crane, the requirements on load limiter system which act the main role in safety monitoring system becomes more and more important. As the boom combination becomes more and more complex, the precision of load limiter system for fixed jib and luffing jib conditions has been the difficulties.Based on load limiter system development project cooperated between School of Mechanical Engineering of DLUT and Shanghai Pal-fin Automatic Control Technology Company Ltd, the key technologies of the crawler crane load limiter algorithm are studied. The main research works are as follows:(1) The factors affecting precision of crawler crane load limiter is summarized. The effects to load limiter algorithm such as force sensor position, external factors, and internal factors is expatiated.(2) Load limiter algorithm of jib condition on crawler crane is expatiated. The movement of crawler crane is expressed by homogeneous transformation, and the basic algorithm of working radius is obtained. The basic algorithm of work load is deduced through the static equilibrium.(3) Load limiter test on160t crawler crane fixed jib condition is organized. The main factors which affect the precision of the load limiter are found through test results and theoretical analysis. An improved algorithm is put forward by considering the main factors which affect the precision of the load limiter. The feasibility of the improved algorithm is proved by finite element simulation and field test data.In this paper, the factors which affect the crawler crane load limiter precision are analyzed. The study is focused on the load limiter algorithm of the crawler crane jib condition. A practical method for domestic load limiter algorithm design is put forward. The research results have been initially used in practice.