基于铁摩辛柯梁理论的超起系统控制算法精度研究

大吨位履带起重机引入超起系统,使得其工况变得复杂,吊载质量也变得更大,因而起重机主臂和超起桅杆挠曲变形也更加明显。由于挠曲变形明显,导致臂架头部和根部的角度值相差很大,会直接影响超起系统控制算法计算的精度。引入铁摩辛柯梁理论对大吨位履带起重机主臂模型和超起桅杆模型进行简化,对臂架上角度传感器测得的角度进行修正,从而提高超起系统控制算法的计算精度。最后进行实验验证,实验结果表明该方案对大吨位履带起重机超起系统控制算法精度提高提供了有效方法。

Large tonnage crawIer cranes equipped with superIift configurations make its conditions compIicated,and the quaIity of Ioad becomes Iarger,so the defIection of crane booms and superIift mast is very obvious.Because of the defIection of crane booms and superIift mast,the top angIe and bottom angIes are very different,it aIways has an effect on the accuracy of su-perIift configurations controI aIgorithm.This paper introduces Timoshenko-Beam theory to simpIify the modeI of crane booms and superIift mast and correct the angIe which is detected by transducer on the booms,thus to Improve the accuracy of superIift configurations controI aIgorithm.