Technical Research On Flexible Arm Crane Truck Ups And Downs Hook Correction And Load Anti-sway

Due to the effect of deformation and movement acceleration in the process oflifting operations of crane truck, the load swing always happens, which affects locationaccuracy, work efficiency and operational safety. Therefore, it is necessary to correctand control the load swing. The traditional research on crane load-swing controlproblem are mainly developed for the car-load system of trolley-jib crane, which is notsuitable for jib crane research any more. So, according to different operation situations,such as up hook, down hook, slewing and luffing of the crane truck, this paper analyzesthe load swing problem, establishes the system’s deformation analysis model of ups anddowns hook conditions, and performs load-swing correction. At the same time, it alsoestablishes system’s dynamic model of slewing and luffing conditions and finishes theanti-swing control study.The equivalent model of the crane’s telescopic boom in ups and downs hookcondition is developed, considering the supporting of the luffing hydraulic cylinder andthe effect of the axial force to arm’s deformation, the arm’s end accurate deflectioncomputational formula is obtained using differential equation.After analyzing the base structure of crane, on account of the big deformation ofthe movable landing legs, this paper derives the revolving platform’s rotationaldeformation formula caused by movable landing legs deformation, and further obtainsthe revolving platform’s rotational deformation of luffing in-plane. Combining thedeformations of the telescope boom and base of the crane, the relationship expressionbetween working radius and arm’s luffing angel before and after applying loads isderived. The corrected luffing angle is obtained with the gradual search method,considering the geometric relationships between luffing angle and hydraulic cylinderflex quantity, the load-swing has been corrected changing the hydraulic cylinder flexquantity directly.The relative motion relationships between the moving parts of the crane trucksystem during work are analyzed, using the homogeneous coordinate transformationmethod movement descriptions for parts in the system are made，and the four DOFdynamics model is set up for slewing, luffing, load swing with Equivalent FiniteElement Integrate Method. Then slewing dynamic simulation model is established withSimulink and analyzed by changing the initial luffing angle, rope length and loadquality. By using the double closed loop robust PID control method, the load swingangle and rotary angle are controlled.