Kunckle Boom Crane’s Dynamics Simulation, Optimization And Control

Kunckle Boom Crane is a kind of equipment which can lift and transport weight. It has the characteristics of small occupied space and flexible operation, which is more and more widely used in modern engineering. Due to its prevail application, the safety and reliability of truck-mounted crane is essential.The main work in this thesis is dynamic analysis, optimization and control for a knuckle boom crane model. The structural strength analysis needs finite element analysis to make a rigid body become a flexible body. The force which is applied load on the model is calculated by the multi-body dynamic analysis software ADAMS and achieve the stress result.In this analysis, commercial finite element analysis software PATRAN&NASTRAN and multi-body dynamic analysis software ADAMS are needed.In this thesis, a design optimization is used to optimize the connected positon of master manipulator arm and master hydraulic cylinder to reduce the hydraulic cylinder stress and reduce the material. The optimization software SIPESC.OPT, which is based on SIPESC (Software Integration Platform for Engineering and Scientific Computation) platform is used in this paper. The design optimization process is completed by JavaScript to combine several analysis software and the optimization result is compared with ADAMS.To improve knuckle boom crane work efficiency and achieve automatic control, a PID control method is used to control the manipulator arm moving. To achieve the locus tracking. MATLAB and ADAMS are need in this process. The result shows excellent ability to control manipulator claw position that improve the theoretical basis for the path control.