Research On Multi-Domain Coupling Modeling And Simulation Of Hydraulic Crane Hoisting System Based On MODELICA

Crane as the typical representative of modern construction machinery is large and important electro-mechanics equipment, which included mechanical, hydraulic and electronic control system. It is difficult to build the multi-domain coupling model for this complex system to analysis the dynamic behavior and the influence on the final performance of the equipment due to the different fields coupling. With the increasing complexity of system, it is hard to solve current problems with the traditional individual-domain analysis tools. To accurately analyze the structure of a system and ultimately improve Dynamic Characteristic and performance of product, it is necessary to build up multi-domain coupling model and carry out simulation and Optimization work during the crane design and development. Therefore, the objective of this paper is to develop a generic model library of components and subsystems that may be used to build up a multi-domain coupling model of hydraulic crane hoisting system, providing a tool for dynamic analysis of architectures and optimization of performance for hydraulic crane.This thesis uses multidisciplinary object-oriented modeling language Modelica and modular division modeling technical to build a modular library of hydraulic crane hoisting system. Modular libraries have the characteristics of typification, independence, commonality and easy connectivity. Models in different libraries can be simulated in the uniform simulation system MWorks. Then simulating the integrated model from different fields, multi-domain model and simulation work can be solved for hydraulic crane hoisting system.Hydraulic crane hoisting system is decomposed into mechanical system, hydraulic system and electro-control system according to engineering field, in order to simulate the system by using modular modeling theory.When the mechanical system is modeled, the nonlinear components that describe the hoisting mechanism are built up based on the finite element theory, because the hoisting mechanism is a rigid flexible coupling multibody system with large deformation and large rotation. Compared the nonlinear model with the traditional linear model to analyze the influence on dynamic characteristics due to nonlinear.When the hydraulic system is modeled, a reusable hydraulic components library is built up by using the modelica language. During modeling of the hydraulic components, the nonlinear effects such as elastic modulus, throttle coefficient, damping coefficient, liquid inductance, turbulent flow, volume and so on are considered. The typical component servo valve involves different energy coupling fields include electric, magnetic, hydraulic, mechanical and so on. The correctness of the nonlinear model is verified by experimental data. What's more the parameters influencing the nonlinear characteristics were analyzed qualitatively by comparing nonlinear model with traditional linear model.Multi-domain model of hydraulic crane hoisting system is built up by integrating different field model, and can be simulated in the MWorks. Several typical operation conditions of hoisting system are simulated dynamically with computer and the nonlinear dynamic characteristics of hydraulic crane hoisting system are analyzed.