Study On Double Winching Synchronous Control System Of Crawler Crane

With the increasing investment in infrastructure construction in our country, crawler crane plays a more and more important role in large-scale constructional hoisting. In order to suit construction requirements, large tonnage crawler cranes has been widely used dual winch or hoist hoisting single hook. At the same time the requirement on winch hydraulic system synchronization becomes higher and higher in order to guarantee the crawler crane stability and safety in the erection process. This paper studies the dual-winch synchronization control system of a 500t crawler crane. In consideration of nonlinearity and time-variability of the hydraulic system, three control techniques, namely conventional PID, fuzzy PID, and single neuron PID, have been employed, and then the three techniques were investigated and compared for their control performance. The main contents of this paper are as follows:(1)The current situation and the future trend of the development in China and abroad of large-tonnage crawler cranes are analyzed, and then to the domestic and foreign double hoist hydraulic synchronous technology development and research status are reviewed. It is determined that the closed hydraulic system is the research object and the main hydraulic components are selected.(2)Based on fluid mechanics knowledge, the mathematical model of each component of the system was derived, and the analysis model of the whole synchronization control system was finally established, and with the help of MATLAB, AMESim built the simulation platform.(3)Targeted at the nonlinear and time-variant characteristic of the hydraulic system, conventional PID controller and fuzzy PID controller and single neuron PID controller are designed respectively.(4)Co-simulation was conducted by using AMESim software and MATLAB/Simulink software, and analyzing the results of simulation experiments shows that the double winding synchronous control system of single neuron PID control method of control precision and convergence speed is superior to the conventional PID control and fuzzy PID control, proves that the single neuron PID control is more suitable for crawler crane double winding synchronous control system.