折臂式随车起重机力矩限制器算法研究与实现

Research and implementation on algorithm of load moment limiter for articulating boom crane

针对折臂式随车起重机特点,研究专用的力矩限制器核心算法和软硬件系统。通过对折臂式随车起重机结构和性能特点的分析,提出用齐次坐标变换法得到臂架的运动学正解,实时准确地求出折臂式随车起重机臂头的位置,并进一步根据臂架的实时作业高度和幅度,给出了作业面内二维分布的起重性能的确定方法。最后建立了折臂式随车起重机专用力矩限制器的软硬件系统。

Developed a new load moment limiter for articulating boom crane.Analyzing the structure and ca-pability of articulation boom crane,and the differences betweem articulationg boom crane and general truck-mounted crane.Calculate the location of hook with homogeneous coordinate transformation method,as well as the method of determining the capacity at two-dimensional load charts at any hook height and radius.At last,designed the software and hardware of the load moment limiter system.