Академический Документы
Профессиональный Документы
Культура Документы
Abstract
A method of controlling the slewing motion of mobile cranes is presented in the paper. The method allows for transportation of
the payload to a selected point and ensures minimisation of its swings when the motion is nished. To achieve this goal a
mathematical model of the control system of the displacement of the payload has been constructed, comprising the mathematical
model of a crane, the model of its hydraulically controlled drive system and controller. A theory of control which ensures swing-free
stop of the payload is presented. Selected results of numerical simulations are shown. Experimental verication of numerical
calculations has been performed on the specially built physical model of a crane. Experimental results in comparison to calculations
are presented. Suggestions for using this method for control of real cranes are presented.
r 2004 Elsevier Ltd. All rights reserved.
Keywords: Mobile crane control; Mathematical model; Swing-free stop
1. Introduction
Mobile cranes are used for loading, mounting,
carrying large loads and for work performed in the
presence of obstacles of various kinds such as power
lines and similar technological installations. The essential difculty is here the swinging of the payload which
occurs during working motion and also after the work is
completed. This applies particularly to the slewing
motion of the crane chassis, for which relatively large
angular accelerations and negative accelerations of the
chassis are characteristic. Inertia forces together with
the centrifugal force and the Coriolis force cause the
payload to swing as a spherical pendulum. Proper
control of the slewing motion of the crane serving to
transport a payload to the dened point with simultaneous minimisation of the swings when the working
motion is nished plays an important role in the model.
This problem is known in the case of controlling the
working movements of a crane, when a payload is
moving with a at motion or a motion compounded of a
few at movements. That solution is used frequently in
overhead cranes (Auernig, 1986; Lee, Cho, & Cho, 1997;
*Tel.: +48-33-827-92-261; fax: +48-33-812-35-02.
!
E-mail address: jklosinski@ath.bielsko.pl (J. K"osinski).
0967-0661/$ - see front matter r 2004 Elsevier Ltd. All rights reserved.
doi:10.1016/j.conengprac.2004.04.007
ARTICLE IN PRESS
452
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460
*
*
z1
mn
s4
y1
B1
s3
A
s2
s1
1 x 1
mp
mw
5
y
y
x
z
Fig. 1. Schematic view of the crane model which is used for analysing
the slewing motion of its body: 1chassis, 2body, 3jib, 4
payload, 5hydraulic motor (explanation of symbols in the text).
ARTICLE IN PRESS
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460
*
*
*
u cT2 q;
where
*
*
c1 0 0 0 1 0 0 0 0T ;
c2 0 0 1 0 0 0 0 0T :
plant
drive system
physical
1rz
of the physical
model of the
model
mobile crane
irz
rope displacement
measuring device
rotation angle
measuring device
_
programmable e2
logic controller
vrz
SAC
computer
numerical plant
SMV
hydrostatic
drive system
R
crane
model
e1
v
_
vset
453
ARTICLE IN PRESS
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460
454
vset
tA
tW
tA
t
0
tB
sgn
;
8
tt
tt
dt B
dt A
where tB tA tW :
The third phase of motion in most cases is a reverse of
the rst phase.
2.4. Results of numerical simulations of the control
system model
A number of numerical simulations of models of
control systems of crane body slewing motion were
carried out to examine the models sensitivity to the
form of input signal function vset t; disturbances in
the system appearing in the form of random forces
acting on the payload during its motion, the values of
kinematicgeometric parameters characterising the
crane and its drive system, and to examine selected
types of control units and their settings (Trombski
et al., 1995, 1999).
Responses of selected coordinates of the model
described by Eq. (5) are shown in Fig. 4 in the case of
rotation of the crane body by an assumed angle of
jk=1.6 rad (own computer program written in Matlab
was used for the numerical simulations). For numerical
calculations technical data of a medium size crane were
used. Coordinates are described on drawings in SI units,
time in seconds.
ARTICLE IN PRESS
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460
455
[rad]
u,v [m]
1.6
0.8
0.8
0.4
v
10
t [s]
15
20
-0.8 -0.4
-0.8
4. Concluding remarks
x,y [10-4 m]
1.0
0
t [s]
10
15
20
-1.0
-2.0
8.0
0
-8.0
x,y,z
[10-5 rad]
z
15
10
20
t [s]
-16
Fig. 4. Responses of the crane model (described by the Eq. (5))
achieved numerically when swing-free stop strategy of slewing motion
is realised.
ARTICLE IN PRESS
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460
456
[rad]
1.6
0.8
0.8
0.4
-0.8
-0.4
-1.6
-0.8
u,v [m]
v
5
10
15
t [s]
5
20
10
(a)
t [s]
15
20
(b)
Fig. 6. Waveforms of selected coordinates of the control system of the crane slewing motion obtained: (a) by numerical simulation, (b)
experimentally.
z ,B
y,B
yB
x
x
z2
j
y
T
j
z ;
ksp
s4 r1
ky1 s1
kx1
A:1
B1
mp
kz1 x
a
mw
y2
l
m
ls
lw
mn
vS1 x y 0T ; x1 j
x
J1 diag Jx Jy Jz :
z1
a1
bx
xB
lc
EKi
x ,B
y x
bs
n1
1X
vT mi vSi xTi Ji xi ;
2 i1 Si
zB
Acknowledgements
EK
bn
y1
by
1 x 1
r2
as
s3
A
A1 s2
kz3 y y
z
h1 h2 zC
kz2
c
b
a
ba
vS2
3 2 3
2 3
2 3
x 0B
x
xB
x B
6 0 7 6 7 6 7
6 7
4 y B 5 4 y 5 T4 yB 5 T4 y B 5;
z0B
zB
zB
ARTICLE IN PRESS
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460
3 2
cos jy cos jz
T1
6 7 6
T 4 T2 5 4 cos jy sin jz
sin jy
T3
T
x j
y
x3 j
J3 diag Jwsx
x ajz
x ajz
and
A:3
T
j z j ;
Jwsy Jwsz ;
EP GT zs 12 wT Cw;
x j
y j z j ;
x2 j
J2 diag Jnwx Jnwy Jnwz1 ;
and
h1
zB
457
A:2
where ip r2 =r1 r2 :
The vector of gravity forces is equal to
T
G mp g mn g mw g mg ;
T
zs 0 zB zC zn ;
where
zB 0 0 1 TqB ; zC 0 0 1 TqC ;
zn 0 0 1 Tqn :
Inserting the above expressions to Eq. (A.3), the
following formula can be obtained:
EP 12 qT Cp q cTr q cs ;
A:4
ARTICLE IN PRESS
458
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460
and time:
d @EK
d
dM
q M.q
Mq
dt @q
dt
dt
Qh
3
1i p
0;
A:8
dt @q
@q
@q
the following nonlinear matrix differential equation is
obtained:
A:9
where
dM 1
1
P
L1 q Cp L2 q L3 q cr
dt
2
2
dcs
F f M q; j1 ; t;
dq
P is the n-dimensional vector whose components are
functions of generalised coordinates and their derivatives, F the vector of generalised forces pertaining to
generalised coordinates, j1 the angle of rotation of the
motor shaft (Fig. 8).
1, M h
1
r2
r1
Fig. 9. The scheme of the hydraulic system for crane body slewing: 1
pump, 2electro-hydraulic valve, 3hydraulic motor, 4brake
operating cylinder.
r
Qs kc
dDp
;
dt
Qh Kh
dj1
;
dt
Qv kv Dp;
j
;
kM kM 1 ip
where kM is the assumed coefcient.
Putting these mentioned formulas into Eq. (B.1) and
making some mathematical transformations we obtain
kc ksp
1
kt kv
j
j
j
ks i
ksp j1
;
B:2
1
k1
ip
kM ip
kM
where k1 kh kM kc ksp =kM :
Eq. (B.2) can be written in the following simplied
form:
j
1 fH q; j1 ; i; t;
B:3
A:5
q
q L1 q ;
A:6
2
dq
2
@q
Mq.q Pq; q;
Qs+Qv
p=const
B:1
where Q is the intensity of oil ow through electrohydraulic valve, Qh the absorbing capacity of motor, Qs
the losses of uid resulting from its compressibility and
exibility of the system, and Qv the volumetric losses in
the system.
Jz1
m
l 2 u2 v 2
ARTICLE IN PRESS
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460
v. 2u j 2u j z vj
2 2j j
z
"
gv
m gvRR u
p R u
p
l2 u2 v2 Jz1
l 2 u2 v 2
#
ksp m1 ip j1 j jz mJz1 vjz p4 p3 ;
C:1
"
#
ksp
m
gvR
p
ip j1 j jz j. z ;
j
.
Jz1
l 2 u2 v 2 m
m
kx
2vu Rv uvj z jz 4 a2 jz
j
.z
Jz
m
Jz1
mw R2c
b
0
;
r1
0
:
References
p2 2u j
2u j
z vj
2 2j
j z sv;
p3 2vv 2R uu
j
j
z
ksp ip j1 j j=m;
p4 p3 2uv
R uvjj
z dj
2 jz
4kx a2 jz =m 2ky b2 c2 jz =m;
0:5
s g l 2 u 2 v2
:
3 2
3
f1 qp ; q; j1
u.
6 v. 7 6 f2 q ; q; j 7
p
1 7
6 7 6
6 76
7 fqp ; q; j1 ;
4j
5
4
f
q
;
q;
j
.
3 p
1 5
C:2
j
.z
f4 qp ; q; j1
T
T
where q u v j jz ; qp u v j
j
z :
The system of differential equations can be linearised
by expansion in a Taylor power series:
q p A1 qp A2 q bj1 fqp0 ; q0 ; j10 A1 qp0
A2 q0 bj10
A1 qp A2 q bj1 r1 ;
;
Rc lc cosk bn ;
p1 2vj 2vj
z R u j
2 2j j
z su;
where
@fqp ; q; j1
A1
qp qp0 ;qq0 ;
@qp
A2
Jnwz1 Jwsz ; ba 0;
d v2 R u2 ;
j1
C:3
q
I
0
q 0
0
q
or, if we denote that qw p ; in the form
q
C:4
q w Aqw Bj1 R;
where
A1
A
I
2R u2 v2 j
j
z jz 4R uvjj
z
2
2
ky 2
gRu u v jz
2
p 2 b c jz ;
m
l 2 u2 v 2
where R lw cosk bn ;
459
A2
@fqp ; q; j1
qp qp0 ;qq0 ;
@q
@fqp ; q; j1
qp qp0 ;qq0 ; r1 fqp0 ; q0 ; j10
@j1
A1 qp0 A2 q0 bj10 :
ARTICLE IN PRESS
460
!
J. K!osinski
/ Control Engineering Practice 13 (2005) 451460