柔性动臂式汽车起重机起落钩修正及重物消摆技术分析-correction of lifting hook of flexible boom truck crane and analysis of weight swing elimination technology.docxVIP

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柔性动臂式汽车起重机起落钩修正及重物消摆技术分析-correction of lifting hook of flexible boom truck crane and analysis of weight swing elimination technology.docx

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柔性动臂式汽车起重机起落钩修正及重物消摆技术分析-correction of lifting hook of flexible boom truck crane and analysis of weight swing elimination technology

AbstractDuetotheeffectofdeformationandmovementaccelerationintheprocessofliftingoperationsofcranetruck,theloadswingalwayshappens,whichaffectslocationaccuracy,workefficiencyandoperationalsafety.Therefore,itisnecessarytocorrectandcontroltheloadswing.Thetraditionalresearchoncraneload-swingcontrolproblemaremainlydevelopedforthecar-loadsystemoftrolley-jibcrane,whichisnotsuitableforjibcraneresearchanymore.So,accordingtodifferentoperationsituations,suchasuphook,downhook,slewingandluffingofthecranetruck,thispaperanalyzestheloadswingproblem,establishesthesystem’sdeformationanalysismodelofupsanddownshookconditions,andperformsload-swingcorrection.Atthesametime,italsoestablishessystem’sdynamicmodelofslewingandluffingconditionsandfinishestheanti-swingcontrolstudy.Theequivalentmodelofthecrane’stelescopicboominupsanddownshookconditionisdeveloped,consideringthesupportingoftheluffinghydrauliccylinderandtheeffectoftheaxialforcetoarm’sdeformation,thearm’sendaccuratedeflectioncomputationalformulaisobtainedusingdifferentialequation.Afteranalyzingthebasestructureofcrane,onaccountofthebigdeformationofthemovablelandinglegs,thispaperderivestherevolvingplatformsrotationaldeformationformulacausedbymovablelandinglegsdeformation,andfurtherobtainstherevolvingplatformsrotationaldeformationofluffingin-plane.Combiningthedeformationsofthetelescopeboomandbaseofthecrane,therelationshipexpressionbetweenworkingradiusandarmsluffingangelbeforeandafterapplyingloadsisderived.Thecorrectedluffingangleisobtainedwiththegradualsearchmethod,consideringthegeometricrelationshipsbetweenluffingangleandhydrauliccylinderflexquantity,theload-swinghasbeencorrectedchangingthehydrauliccylinderflexquantitydirectly.Therelativemotionrelationshipsbetweenthemovingpartsofthecranetrucksystemduringworkareanalyzed,usingthehomogeneouscoordinatetransformationmethodmovementdescriptionsforpartsinthesystemaremade，andthefourDOFdynamicsmodelissetupforslewing,luffing,loadswingwithEquivalentFiniteElementIntegrateMethod.Thenslewingdynamicsimu