Research About Synchronization Control Of Pupm-controlled Dual-winch System On Crawler Crane

As the size of modern equipment and engineering projects becomeslarger and larger, requirements of cranes’ lifting capacity and security arehigher and higher. Therefore, more and more crawler cranes withdual-winch system have been utilized in practice. Synchronous controlmethod is the key factor determining the performance of dual-winchsystems. And inappropriate control methods will cause synchronizationerror which leads to components’ short working life and security risks.Occasionally the synchronization error increased and initial errorcould not be corrected when a certain400-ton pump-controlleddual-winch crawler crane lifted weights. To analyze the reasons leading tothe described problems and improve the synchronization controlperformance of the pump-controlled dual-winch system, the structure andprinciple of the researched dual-winch system is analyzed, and themathematical and simulation model is built to find the factors affecting itsunsynchronization and to provide improved control strategy. In detail, theresearched contents are as follows:1) As for the targeted400-ton crawler cranes with pump-controlleddual-winch system, its three significant parts, namely the hydraulic system,the hoisting mechanism and the control unit, are studied exhaustively tohave a correct understanding of its principle, and then its mathematical and simulation model are set to see it control effects and find out thereasons causing the described unsynchronization.2) Due to the deficiency of the present control unit, a proposal ofusing the hook’s inclination angle as the feedback to improve thesynchronization control performance is made after analyzing the feedbacksingal, control mode and control algorithm. To verify the performance ofthe new control strategy, theoretical and simulating analyse are made andit turns out that the two winches act synchronously under the proposedcontrol strategy. Besides, the proposal’s influence on the system’s stabilityis researched and a method to determine the parameters of the PIcontroller is raised.3) Finally, a wireless communication model is designed to realize thepropsoed control stragety.In a word, the factors leading to the unsynchronization of twowinches under master-slave PI controller based on the difference of tworeels’ angles are found out and a proposal is raised to improve the controleffect. The findings above are not only meaningful to improve thesynchronization control performance of the dual-winch system, but alsohelpful to researches about the synchronization control of several actuatorsdriving loads together.