| Crane is a very dangerous device because of the complex working environment.Therefore, it is essential to improve working security for crane by monitor and control potential dangers . Based on the demand of running security of crane, it has became the technology development direction of crane industry to develop the control technology of alarming and limiting the position for crane in a security space which based on virtual reality (that is, the virtual wall technology).Crane virtual wall technology needs to plan the crane working space, control the position for the crane operation based on electro-hydraulic control technology, and realize the safe operation in complexity environment. It is a integrated technology which integrated movement planning, sensor technology, electro-hydraulic control and computer technology.In this paper, to a company's 130 tons entire hydraulic crane,we have analysed its structure and its hydraulic control system, established the virtual safety working space and studied crane's working state monitoring strategy in a particular working environment, the main research content as follows:(1)Based on the environmental conditions and the virtual security working space, researched the algorithm of location relationship between crane boom and security working space;(2)Studied the brake trajectory when crane triggered the security conditions;(3)Analyzed crane's electric-hydraulic control system and established the dynamics model of electric-hydraulic control system, simulated the system's dynamic features by the dynamic system simulation toolbox Simulink provided by MATLAB software and proposed crane's emergency braking security control strategy according to the response characteristicse ; (4)Experimental research to the crane's electro-hydraulic control system verified the algorithms above .
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