Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00022
Cao Xuyang, Dong Xiang, Wang Lei
The multi-section telescopic boom is widely used in truck crane as its working boom. At present, the design of telescopic booms relies on experience and lacks the theory and method of custom design. The design difficulty of the telescopic boom is reasonably determined in the section parameters, which determines the performance and self-weight of the telescopic boom. Based on the similarity theory, this paper uses the dimensional analysis method to derive the similarity criterion of the telescopic boom model and the ratio of similitude between the design model and the prototype physical quantity. Considering the actual processing rationality requirements, the equivalent moment of the custom model's section moment of inertia is calculated and the model section size parameters are determined according to the section design law. Finally, a cross-shaped parameter of a 50-ton telescopic boom model was custom designed with a hexagonal section telescopic boom of a 25-ton truck crane as a similar prototype. The results show that the custom model and the existing 50 tons of products have similar performance in terms of strength, stiffness and stability, which provides a feasible method for the customized and serial design of the telescopic boom of the truck crane.
{"title":"Similar Design of Telescopic Boom Section of Truck Crane","authors":"Cao Xuyang, Dong Xiang, Wang Lei","doi":"10.1109/ICACMVE.2019.00022","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00022","url":null,"abstract":"The multi-section telescopic boom is widely used in truck crane as its working boom. At present, the design of telescopic booms relies on experience and lacks the theory and method of custom design. The design difficulty of the telescopic boom is reasonably determined in the section parameters, which determines the performance and self-weight of the telescopic boom. Based on the similarity theory, this paper uses the dimensional analysis method to derive the similarity criterion of the telescopic boom model and the ratio of similitude between the design model and the prototype physical quantity. Considering the actual processing rationality requirements, the equivalent moment of the custom model's section moment of inertia is calculated and the model section size parameters are determined according to the section design law. Finally, a cross-shaped parameter of a 50-ton telescopic boom model was custom designed with a hexagonal section telescopic boom of a 25-ton truck crane as a similar prototype. The results show that the custom model and the existing 50 tons of products have similar performance in terms of strength, stiffness and stability, which provides a feasible method for the customized and serial design of the telescopic boom of the truck crane.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124838051","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00087
Chen Xiang, Fang Peng, Chen Fenglei, Wang Song
Aiming at the current situation that the coal-rock interface identification in the coal mining process is difficult to realize, the solution of predictive algorithm to realize the locus prediction of the shearer is proposed, so that the intelligent control of the shearer is realized. The gray Markov chain predictive model based on sliding window is proposed due to the small number of data samples in the process of locus prediction of the shearer. The model has the characteristics of relatively simple algorithm, ability to respond to random events, high prediction accuracy and fast calculation speed. Through the simulation experiment, the sliding window width was determined and the predictive algorithm was verified at the same time. The simulation experiment results indicated that the predictive algorithm has fast response speed and high prediction accuracy, which is suitable for practical applications.
{"title":"The Grey Markov Chain Model Based on Sliding Window in Vertical Steering Locus Forecasting for Shearers","authors":"Chen Xiang, Fang Peng, Chen Fenglei, Wang Song","doi":"10.1109/ICACMVE.2019.00087","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00087","url":null,"abstract":"Aiming at the current situation that the coal-rock interface identification in the coal mining process is difficult to realize, the solution of predictive algorithm to realize the locus prediction of the shearer is proposed, so that the intelligent control of the shearer is realized. The gray Markov chain predictive model based on sliding window is proposed due to the small number of data samples in the process of locus prediction of the shearer. The model has the characteristics of relatively simple algorithm, ability to respond to random events, high prediction accuracy and fast calculation speed. Through the simulation experiment, the sliding window width was determined and the predictive algorithm was verified at the same time. The simulation experiment results indicated that the predictive algorithm has fast response speed and high prediction accuracy, which is suitable for practical applications.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122207464","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00078
Chen Miao, Zhang Qing, Qin Xianrong, Sun Yuantao
This paper presents an effective and intuitive method for the kinematics and dynamics analysis of 2UPRRRU parallel mechanism in Simulink/Simscape. Firstly, the kinematic model of 2UPR-RRU parallel mechanism is analyzed based on closed loop vector method. Secondly, the components in the Simscape are chosen to form the virtual prototype model of 2UPR-RRU parallel mechanism, and the inverse kinematics and inverse dynamics model are solved in Simulink and Simscape respectively. Finally, the inverse kinematics solutions and the active forces of actuators are deduced through the simulation. The result indicates the mechanism possesses good movability. In addition, this method provides a visual way to analyze the movement of the parallel mechanism?
{"title":"Modelling and Simulation of a 2UPR-RRU Parallel Mechanism","authors":"Chen Miao, Zhang Qing, Qin Xianrong, Sun Yuantao","doi":"10.1109/ICACMVE.2019.00078","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00078","url":null,"abstract":"This paper presents an effective and intuitive method for the kinematics and dynamics analysis of 2UPRRRU parallel mechanism in Simulink/Simscape. Firstly, the kinematic model of 2UPR-RRU parallel mechanism is analyzed based on closed loop vector method. Secondly, the components in the Simscape are chosen to form the virtual prototype model of 2UPR-RRU parallel mechanism, and the inverse kinematics and inverse dynamics model are solved in Simulink and Simscape respectively. Finally, the inverse kinematics solutions and the active forces of actuators are deduced through the simulation. The result indicates the mechanism possesses good movability. In addition, this method provides a visual way to analyze the movement of the parallel mechanism?","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130606411","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00040
Liu Yuan, Li Fengling, Z. Dequan
Grouting pump is traffic, subway and tunnel bridge important basis in the field of the power source in the process of grouting, the grouting monitoring system can monitor to the surface of the pump outlet pressure, not considering the cement slurry in pipeline transmission pressure loss, there must be lead to the hole grouting pressure value is less than the orifice pump pressure value, thus unable to reach the expected effect of grouting. In view of the above situation, the simulation model of cement slurry transmission in the pipeline was created in Fluent module of ANSYS finite element software, and the influence of different pump pressures on the friction loss pressure of cement slurry transmission in the pipeline was analyzed with the control variable method when the slurry ratio and slurry velocity remained unchanged. A large number of simulation results show that: when the cement slurry is transmitted in the pipeline over a long distance, the pump pressure value input increases gradually from small to large, so does the pressure value in the hole, and the corresponding absolute deviation shows an increasing trend. In addition, the value of the input pump pressure gradually increases, and the corresponding relative deviation value is still large, indicating that the pressure loss in the hole is large, and pressure compensation must be carried out, so as to achieve the expected grouting effect.
{"title":"Analysis of Friction Loss Pressure of Cement Slurry in Pipeline under Different Pump Pressures","authors":"Liu Yuan, Li Fengling, Z. Dequan","doi":"10.1109/ICACMVE.2019.00040","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00040","url":null,"abstract":"Grouting pump is traffic, subway and tunnel bridge important basis in the field of the power source in the process of grouting, the grouting monitoring system can monitor to the surface of the pump outlet pressure, not considering the cement slurry in pipeline transmission pressure loss, there must be lead to the hole grouting pressure value is less than the orifice pump pressure value, thus unable to reach the expected effect of grouting. In view of the above situation, the simulation model of cement slurry transmission in the pipeline was created in Fluent module of ANSYS finite element software, and the influence of different pump pressures on the friction loss pressure of cement slurry transmission in the pipeline was analyzed with the control variable method when the slurry ratio and slurry velocity remained unchanged. A large number of simulation results show that: when the cement slurry is transmitted in the pipeline over a long distance, the pump pressure value input increases gradually from small to large, so does the pressure value in the hole, and the corresponding absolute deviation shows an increasing trend. In addition, the value of the input pump pressure gradually increases, and the corresponding relative deviation value is still large, indicating that the pressure loss in the hole is large, and pressure compensation must be carried out, so as to achieve the expected grouting effect.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"128 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128483115","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00027
Wu Renzhi, Diao Jixiang, Z. Lei, Qin Lei
In order to solve the problem of insufficient hydraulic absorption and leakage of hydraulic pump under long pipeline conditions, the long pipeline suction pipe of hydraulic lifting and lubrication system of a tractor is used as the object, and its oil absorption performance is carried out. Comparative analysis and experimental studies before and after structural improvement optimization. The theoretical calculation is carried out by the theory of pressure loss of fluid mechanics. The simulation is carried out by using 3D software such as Pro/E, ICEM-CFD and Fluent, and test the prototype of the original machine and structural improvement. The main factors affecting the oil absorption performance of the hydraulic pump under long pipeline conditions are the pressure loss of the suction pipeline, the filter pressure loss of the filter and the relative position pressure loss of the fuel tank and the hydraulic pump; the test indicates the structural optimization of the oil pipeline of the long pipeline It is innovative and popular in terms of oil absorption performance improvement, reliability and aesthetics; pressure loss data for theoretical calculation, simulation, and test are consistent over the tolerances.
{"title":"Analysis Test and Optimization of Oil Absorption Performance of Long Pipeline Hydraulic Pump","authors":"Wu Renzhi, Diao Jixiang, Z. Lei, Qin Lei","doi":"10.1109/ICACMVE.2019.00027","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00027","url":null,"abstract":"In order to solve the problem of insufficient hydraulic absorption and leakage of hydraulic pump under long pipeline conditions, the long pipeline suction pipe of hydraulic lifting and lubrication system of a tractor is used as the object, and its oil absorption performance is carried out. Comparative analysis and experimental studies before and after structural improvement optimization. The theoretical calculation is carried out by the theory of pressure loss of fluid mechanics. The simulation is carried out by using 3D software such as Pro/E, ICEM-CFD and Fluent, and test the prototype of the original machine and structural improvement. The main factors affecting the oil absorption performance of the hydraulic pump under long pipeline conditions are the pressure loss of the suction pipeline, the filter pressure loss of the filter and the relative position pressure loss of the fuel tank and the hydraulic pump; the test indicates the structural optimization of the oil pipeline of the long pipeline It is innovative and popular in terms of oil absorption performance improvement, reliability and aesthetics; pressure loss data for theoretical calculation, simulation, and test are consistent over the tolerances.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128442857","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00035
Wang Xiang, Xi Ying, Gu Chao, L. Mengru
Aiming at the problem of local minimum of traditional artificial potential field, this paper proposes a partial potential field by offset virtual obstacle correction strategy of potential field method. Determining the escape direction of the manipulator at the extreme value according to the offset direction. By improving the potential function, the manipulator can escape from the local minimum; at the same time, the strategy of continuous potential field is put forward, which can be used in polishing complex surface. The processing sequence of workpiece surface is generated by modifying greedy algorithm, and then path generation is realized by using modified potential field method. Finally, the simulation of the above strategies has done in MATLAB. The results demonstrate the offset virtual obstacle strategy is better and the generated trajectory is suitable.
{"title":"An Improved Potential Field Method of the Manipulator Obstacle Avoidance Planning Based on Polishing Path","authors":"Wang Xiang, Xi Ying, Gu Chao, L. Mengru","doi":"10.1109/ICACMVE.2019.00035","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00035","url":null,"abstract":"Aiming at the problem of local minimum of traditional artificial potential field, this paper proposes a partial potential field by offset virtual obstacle correction strategy of potential field method. Determining the escape direction of the manipulator at the extreme value according to the offset direction. By improving the potential function, the manipulator can escape from the local minimum; at the same time, the strategy of continuous potential field is put forward, which can be used in polishing complex surface. The processing sequence of workpiece surface is generated by modifying greedy algorithm, and then path generation is realized by using modified potential field method. Finally, the simulation of the above strategies has done in MATLAB. The results demonstrate the offset virtual obstacle strategy is better and the generated trajectory is suitable.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"47 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133911648","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00017
Cheng-long Wang, Genyuan Miao, W. Peng, Yanxi Liu
Axial piston pump is the key element in hydraulic system. For the design of axial piston pump, the key problem which should be solved in the design process is how to shorten the development time and support its innovation effectively. Feature modeling technology and parametric technology are combined together in the paper. Firstly, functional module of feature-based parametric design system for key parts of axial piston pump is provided. Secondly, feature-based parametric modeling process is given. Thirdly, structural feature algorithm for key parts of axial piston pump is given. Finally, the method for input and verification of user-defined parameters is given. According to the research, a feature-based parametric design system for axial piston pump is developed which provides an effective tool for rapid and innovative design of axial piston pump, which provides a good reference for the innovative design of other hydraulic components.
{"title":"Research and Development of Feature-Based Parametric Design System for Axial Piston Pump","authors":"Cheng-long Wang, Genyuan Miao, W. Peng, Yanxi Liu","doi":"10.1109/ICACMVE.2019.00017","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00017","url":null,"abstract":"Axial piston pump is the key element in hydraulic system. For the design of axial piston pump, the key problem which should be solved in the design process is how to shorten the development time and support its innovation effectively. Feature modeling technology and parametric technology are combined together in the paper. Firstly, functional module of feature-based parametric design system for key parts of axial piston pump is provided. Secondly, feature-based parametric modeling process is given. Thirdly, structural feature algorithm for key parts of axial piston pump is given. Finally, the method for input and verification of user-defined parameters is given. According to the research, a feature-based parametric design system for axial piston pump is developed which provides an effective tool for rapid and innovative design of axial piston pump, which provides a good reference for the innovative design of other hydraulic components.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132178008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00084
Liang Ao, Bian Yongming, Liu Guangjun
According to the fractal theory, the normal contact mechanics model for friction surface considering the asperity level and the various hardness of material has been established. The mathematical expressions of critical contact areas and critical levels of a single asperity are derived respectively from the deformation mechanism of a single asperity. Based on the micro-contact area distribution function, the relationship between the total normal contact load and the total real contact area is obtained. The numerical results show that the critical contact areas of asperity on friction surface are scale dependent, they reduce while the asperity level increases; for determined material properties of friction surface, the critical elastic level and the critical plastic level of asperity are decided by the value of fractal parameters; when fractal parameters of certain friction surface are constant, the elastic contact area ratio which manifests the wear resistance of the friction surface decreases with the raising of asperity level. The fractal contact mechanics model produces a theoretical foundation for further study of the wear mechanisms of friction surface.
{"title":"Scale Dependence of Fractal Contact Mechanics Model for Friction Surface","authors":"Liang Ao, Bian Yongming, Liu Guangjun","doi":"10.1109/ICACMVE.2019.00084","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00084","url":null,"abstract":"According to the fractal theory, the normal contact mechanics model for friction surface considering the asperity level and the various hardness of material has been established. The mathematical expressions of critical contact areas and critical levels of a single asperity are derived respectively from the deformation mechanism of a single asperity. Based on the micro-contact area distribution function, the relationship between the total normal contact load and the total real contact area is obtained. The numerical results show that the critical contact areas of asperity on friction surface are scale dependent, they reduce while the asperity level increases; for determined material properties of friction surface, the critical elastic level and the critical plastic level of asperity are decided by the value of fractal parameters; when fractal parameters of certain friction surface are constant, the elastic contact area ratio which manifests the wear resistance of the friction surface decreases with the raising of asperity level. The fractal contact mechanics model produces a theoretical foundation for further study of the wear mechanisms of friction surface.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123615412","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-05-01DOI: 10.1109/ICACMVE.2019.00062
W. Jianjun, Z. Jingyi, Lian Wenlei, C. Wei, Wang Yongchang
Leveling control of bearing platform of large engineering transport vehicle is very important for the safety and reliability of transportation. The leveling method of the load-bearing platform of the transporter is studied. According to the actual working conditions, through the force analysis of the load-bearing platform and the calculation method of the load center of gravity, the allowable loading area for the anti-overturning of the engineering transporter under the condition of four-point support is put forward. An adaptive electro-hydraulic leveling system based on four-point support is designed, and four groups of suspension hydraulic system are simplified as a single-support system model. The hydraulic system is built by AMESim software, and the control system is built by MATLAB software, Then the feasibility of the leveling control system is verified through the simulation. The results show that the control strategy has better precision and shorter reaction time, and is more suitable for vehicle leveling control system. On this basis, And the electro-hydraulic leveling control system was designed for the 100 tons of hydraulic truck of an enterprise, double-axis tilt sensor is used to monitor the level of the platform in real time, and the controller can make the suspension hydraulic cylinders act accordingly to keep the platform level. Finally, the actual vehicle leveling experiment is carried out, and the experiments of load sharing and unbalanced load lifting are carried out respectively. It is found that the leveling accuracy can be controlled within 0.25 degrees, which fully meets the engineering application and can provide reference for the development of similar systems.
{"title":"The Study and Engineering Application on Adaptive Leveling of Vehicle Platform","authors":"W. Jianjun, Z. Jingyi, Lian Wenlei, C. Wei, Wang Yongchang","doi":"10.1109/ICACMVE.2019.00062","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00062","url":null,"abstract":"Leveling control of bearing platform of large engineering transport vehicle is very important for the safety and reliability of transportation. The leveling method of the load-bearing platform of the transporter is studied. According to the actual working conditions, through the force analysis of the load-bearing platform and the calculation method of the load center of gravity, the allowable loading area for the anti-overturning of the engineering transporter under the condition of four-point support is put forward. An adaptive electro-hydraulic leveling system based on four-point support is designed, and four groups of suspension hydraulic system are simplified as a single-support system model. The hydraulic system is built by AMESim software, and the control system is built by MATLAB software, Then the feasibility of the leveling control system is verified through the simulation. The results show that the control strategy has better precision and shorter reaction time, and is more suitable for vehicle leveling control system. On this basis, And the electro-hydraulic leveling control system was designed for the 100 tons of hydraulic truck of an enterprise, double-axis tilt sensor is used to monitor the level of the platform in real time, and the controller can make the suspension hydraulic cylinders act accordingly to keep the platform level. Finally, the actual vehicle leveling experiment is carried out, and the experiments of load sharing and unbalanced load lifting are carried out respectively. It is found that the leveling accuracy can be controlled within 0.25 degrees, which fully meets the engineering application and can provide reference for the development of similar systems.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116698816","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
The spreader of the automated rail mounted container gantry crane (ARMG) causes small offset or deflection oscillation because of the interference of random wind etc. so that cannot load and unload containers rapidly and accurately. This paper presents a fine tuning method by the traction of auxiliary wire ropes. The fine tuning system is simplified into a fully constrained 1R2T cable-driven parallel robot. The system dynamic model is established by Lagrange method, and the inverse dynamics solution is carried out by introducing the external force couple method. According to the real-time trajectory planning of spreader deflection, the position controller is designed based on computational moment method, and the simulation experiment platform is established by using MATLAB/Simulink based on dynamic model and servo control law. The interference force of wind and hoisting ropes is simulated by random signal to form the simulation closed-loop system. The simulation results show that the spreader can theoretically achieve the rapid and accurate positioning by the traction of auxiliary wire ropes after choosing the reasonable controller coefficients.
{"title":"Dynamic Modeling and Control of ARMG Spreader's Fine Tuning with Auxiliary Wire Ropes","authors":"Yinggang Zhang, Miao Chen, Qing Zhang, Xicong Xie, Liangjun Xu","doi":"10.1109/ICACMVE.2019.00046","DOIUrl":"https://doi.org/10.1109/ICACMVE.2019.00046","url":null,"abstract":"The spreader of the automated rail mounted container gantry crane (ARMG) causes small offset or deflection oscillation because of the interference of random wind etc. so that cannot load and unload containers rapidly and accurately. This paper presents a fine tuning method by the traction of auxiliary wire ropes. The fine tuning system is simplified into a fully constrained 1R2T cable-driven parallel robot. The system dynamic model is established by Lagrange method, and the inverse dynamics solution is carried out by introducing the external force couple method. According to the real-time trajectory planning of spreader deflection, the position controller is designed based on computational moment method, and the simulation experiment platform is established by using MATLAB/Simulink based on dynamic model and servo control law. The interference force of wind and hoisting ropes is simulated by random signal to form the simulation closed-loop system. The simulation results show that the spreader can theoretically achieve the rapid and accurate positioning by the traction of auxiliary wire ropes after choosing the reasonable controller coefficients.","PeriodicalId":375616,"journal":{"name":"2019 International Conference on Advances in Construction Machinery and Vehicle Engineering (ICACMVE)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116618321","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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