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Cao X.,Dalian University of Technology | Yuan J.,YTO Group Corporation | Li W.,Dalian Yiliya Construction Machinery Co. | Ding C.,Dalian Shipbuilding Industry Co.
Zhongguo Jixie Gongcheng/China Mechanical Engineering

Aiming at the problems of poor precision, low operation efficiency and low security due to the load oscillation of luffing motion for crane, an error asymptotic compensation control method was proposed to minimize the sway angle of load. Based on the analysis of error asymptotic compensation control theory, the error asymptotic compensation controller was designed. Through appropriate adjustments to the two stage compensation coefficients, the sway angle of the lifted load was gradually decreased, meanwhile, the requirements of the acceleration and the pump displacement were met. The MATLAB simulation results show that error asymptotic compensation controller has good robustness and control precision for different ropes and jib lengths. After the crane began to brake, the sway angle is reduced to below 0.003 rad in 10 seconds. ©, 2015, China Mechanical Engineering Magazine Office. All right reserved. Source

Wang X.,Dalian University of Technology | Wang C.,Dalian University of Technology | Zhou Y.,Dalian University of Technology | Xu J.,Dalian Yiliya Construction Machinery Co.
Zhongguo Jixie Gongcheng/China Mechanical Engineering

Based on Timoshenko theory, a truss boom can be simplified into Timoshenko beam. A mathematical model based on such simplification was set up and aimed at minimizing buckling strain energy. The optimization analysis program was formulated in MATLAB, and the improved genetic algorithm was adopted to optimize the joint point distribution of the truss boom head section. Comparison of the overall stability of the optimal and the original results was used to verify the reasonability of the proposed model. The proposed model can be used effectively for optimizing the joint point distribution of the truss boom head section. Source

Xuyang C.,Dalian University of Technology | Pengfei L.,Dalian University of Technology | Rongyao S.,Dalian University of Technology | Xin W.,Dalian Yiliya Construction Machinery Co. | Shunde G.,Dalian University of Technology
Journal of Convergence Information Technology

The simulation of straight trajectory control on telescopic boom aerial work platform has been researched. The motivation of the research is to improve productivity and safety of the work platform by advanced control system. The system consists of a microcomputer-based controller, sensors and hydraulic actuators. The control algorithm is the combination of feedback and feedforward control and static deflection compensation. The effect of this algorithm is verified by co-simulation. Source

Wang X.,Dalian University of Technology | Yi H.,Dalian University of Technology | Zhao R.,Dalian Yiliya Construction Machinery Co. | Xiao H.,Dalian University of Technology
Zhongguo Jixie Gongcheng/China Mechanical Engineering

For the stability of n-order variable cross-section compression bars, the differential equations concerning the flexible curve equation were established. Based on the boundary conditions of neighbored-order, a critical load coefficient equation was built by solving the differential equations. And Newton iteration method was applied to calculate the critical load. As a case of telescopic boom for 1200 ton all-terrain crane, comparison results of calculation were analyzed among Newton iteration method, secant method and stability of ANSYS, which indicate the rationality of the critical load coefficient equation and efficiency of Newton iteration method. Source

Teng R.,Dalian University of Technology | He H.,Dalian Yiliya Construction Machinery Co. | Xiang H.,Dalian Yiliya Construction Machinery Co. | Gao S.,Dalian University of Technology
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering

Large-scale aerial work platform (AWP) truck is a special equipment used for rescuing and firefighting for high buildings. To solve the trajectory planning problem for AWP with multi-joint in motion, a collision avoidance method is proposed based on heuristic path-searching in the luffing plane containing obstacles. The boom system with multi-degree-of-freedom is modeled parametrically in accordance with the real structure, and the D-H (Denavit-Hartenberg) parameters and homogeneous transformation matrix are listed. Then the collision condition for the booms and the enveloping circle is analyzed based on the simplified model of the obstacle. The path is searched in the 4-dimensional configuration space by using heuristic A* algorithm in Matlab program. Numerical simulation result of PTP shows that the booms avoided the obstacle successfully. Finally the appraisal function of the path searching for booms of AWP which comprises both prismatic and revolute joints is researched, and the optimal trajectory which contains minimum nodes and costs minimum time is acquired. © 2013 Journal of Mechanical Engineering. Source

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