Research On Tower Crane’s Spacial Runnig States Stability Control Algorithm And Monitoring System

With the rapid development of the construction industry, tower cranes are developing to be large-sized. It is necessary to monitor their spacial running states from various aspects and use modem control to suppress load swing in operation, so to improve the security and operational efficiency.Taking the horizontal boom tower crane as the object, the mainly tasks as follows:(A) Set up a model of the spatcial running states by the wire rope’s length changes based on Lagrange Equations, simulated the model by MATLAB/Simulink. The result shows amplitude movement only cause the load swing in the amplitude direction, rotary movement causes swing in both amplitude and rotation directions, but less in the amplitude one, separate hoisting movement causes no load swing, but in the case of swinging, length changes of the wire rope will affect the amplitude and frequency of the swing. Therefore, it’s necessary to consider wire rope’s length changes during modeling.(B) Aimed at problems of the periodic load swing when level luffing and rotating in operation, a sliding mode variable structure controller (SMVSC) was designed to simulate tower crane’s spacial running states. The result shows the system can reach target positions and eliminate load swing in limited time, amplitude and frequency of the swing have been effectively controlled during movement, the controller has good robustness to changes of system parameters.(C) According to the needs of the controller, the tower crane’s spacial running states monitoring system based on Windows CE5.0was designed by using VS2005combined with SQLite database. System can collect real-time spacial running states and environmental parameters, display on the monitor screen, provide reference for the driver when operating, alarm against and record the dangerous working conditions so to investigate and analyze the accident, set up basic parameters, limited parameters, lifting characteristic and calibration sensor parameters of tower crane on-line, so as to adapt different types of tower crane, which has a certain universality.The thesis contains78figures,13tables, and47references.