| Lorry crane is one kind of construction machinery with lifting machinery installed in the truck. Because of mobile, flexible and convenient, the Lorry crane gradually replaced the small and medium-sized truck crane, which is widely used in transportation, field engineering emergency rescue, telecom, electric power, wharf, municipal construction and other fields. At home and abroad, people control the lorry crane to work through a handle at the work station or remote control. The staffs need skills in handling damaged and sophisticated goods. Because of intelligent, robotized technology trend in the field of engineering machinery, this article based on the study of lorry crane made some exploration.With lorry crane for the prototype, the author establishes the kinematics and dynamics model of lorry crane. Using the method of d-h theory of robots, solve the arm’s kinematics equation, and the inverse solution,then calculate the length of hydraulic cylinder and joint Angle change corresponding relation, At the same time using the Newton-euler method in working device of lorry crane for dynamic analysis. This paper discusses the theory of the robot trajectory planning in different ways. Under the analysis of the specific operating mode and work space about lorry-mounted crane, the time step such as trajectory planning strategy is determined. By the theoretical analysis about electro-hydraulic proportional position servo control system, established the state space model based on location and deviation variables. After Analyses the influential factors of the electro-hydraulic servo control system, introduce the sliding mode control of uncertain non-linear systems which has been widely applied in the robot field. We design a fuzzy adaptive integral synovial surface synovial controller and do simulation compared with the conventional PID. Using single synovial joints drive experiment, the author proves the feasibility of the control in the hydraulic position servo control. |
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