Dynamic Characteristic And Active Control Research Of 55t Truck Crane Flexible Boom

Truck crane as a typical box type jib crane is widely used in various lifting operations. With the crane lifting capacity, lifting height, the operating radius rising, dynamic load during operating generated by the movement can not be ignored or just be used empirical method to consider. In traditional calculation method, dynamic load factor is used to consider the impact of dynamic load. However, this method has some limitations. Therefore, to research an effective method to analysis dynamic characteristics of the boom crane is necessary.Truck crane boom system and the load-wire rope system have characteristics of flexibility and swing result in boom vibration and load in the crane operating process, which is bad to the safety of machine. Therefore, to study how to reduce or inhibit boom vibration and load swing is very necessary.This paper takes 55t truck crane as researching object, based on the predecessors'work, using existing software to analyze dynamic characteristics of the truck crane box boom system, and research control method to reduce or inhibit boom vibration and load swing. The main work is as follows:1) Typical conditions of truck crane dynamic analysisUsing ADAMS, ANSYS and PRO/E software to establish 55t truck crane Rigid-Flexible coupling model, and using the ADAMS software to simulated the flexible boom under the working conditions of slewing, luffing and sudden unloading to analyze the dynamic characteristics of the boom. The analysis result provided a basis for the structure and hydraulic system design.2) Conventional PD control study of the crane boom vibration and load swingUsing ADAMS and MATLAB to establish equivalent control model of crane, and using the conventional PD control to reduce load swing and boom vibration base on simulation, the simulation results show that this method is effective for control boom vibration and load oscillation.3) Fuzzy PD control study of the crane boom vibration and load swingFurther research of fuzzy PD was carried out based on conventional PD control, the simulation results meet the requirements and show that this method has some adaptive.