STUDIES ON SIMULATION AND CONTROL OF TRUCK CRANES IN SWING MOTION

1.液压汽车起重机的摆动控制要求在无振动的情况下将吊重操纵到所需位置，但操作难度很大。因此，摆动控制变得如此有效，如果包含液压系统的起重机的动态行为被精确地建模。首先，建立了起重机回转作业的动力学模型，将吊臂近似表示为集中质量系统，并将机械系统和液压系统结合起来。对起重机的动态特性进行了仿真，并与实验结果进行了比较。其次，建立了起重机机械系统与液压系统相结合的起升运行和回转运行的动力学模型。对起重机起升过程的动态特性进行了仿真，并与实验结果进行了比较，提出了起重机回转过程的速度控制方法。挥杆的速度控制 ...更多信息 液压系统中的电动机和液压系统中的摇摆控制成为控制悬挂负载所必需的。确定用于减少回转操作中的负载摇摆的速度模式，以用于回转马达的控制。通过速度型模糊控制器、速度型线性控制器和前馈模糊控制器，控制摆动电机的速度跟随速度模式。利用该控制器对起重机回转作业的动态特性进行了仿真，并与实验结果进行了比较，表明了该控制器的有效性。其次，介绍了液压系统中摆动马达的速度控制和摇臂式系统中的摆动控制。采用相轨迹法和牛顿-拉夫逊法确定的速度分布图。仿真和实验结果的比较表明，如果初始载荷的摇摆是在旋转方向上，通过修改速度模式减少摇摆。少

1.The swing control of hydraulic truck cranes requires to operate a suspended load to the desired position without vibration, but the operation is so difficult. Therefore, the swing control becomes so effective if the dynamic behavior of the cranes containing the hydraulic system is accurately modelled. Firstly, the dynamic behavior of the cranes in swing operation is modelled, in which the booms are approximately expressed as lumped-mass systems, and the mechanical system is combined with the hydraulic system. The dynamic behavior of the cranes is simulated and is compared with experimental results. Secondly, the dynamic behavior of the cranes in elevating operation is modelled, in which the mechanical system is combined with the hydraulic system as well as the swing operation. The dynamic behavior of the cranes in elevating operation is simulated and is compared with experimental one.The velocity control of the cranes in swing operation is presented. The velocity control of the swing … More motor in the hydraulic system and sway control in the pendulum-type system becomes necessary to control the suspended load. The velocity pattern to reduce the load sway in swing operation is determined for the control of the swing motor. The velocity of the swing motor is controlled to follow the velocity pattern by the proposed velocity-type fuzzy controller, velocity-type linear controller and feedforward fuzzy controller. By using such controllers, the dynamic behavior of the cranes in swing operation is simulated and its effectiveness is shown by comparing it with experimental one. Secondly, the velocity control of the swing motor in the hydraulic system and sway control in the pendulum-type system is presented. The approach to use the velocity pattern determined by the phase-trajectory and Newton-Raphson methods is adopted. The comparison of simulated and experimental results indicates that the sway is reduced by modifying the velocity pattern if the initial load sway is in the rotational direction. Less