DYNAMIC ANALYSIS AND MOTION CONTROL OF HYDRAULIC CRANE FOR MEN LIFTING USING MODELING AND SIMULATIONS

摘要

This paper deals with modeling and simulation of Hydraulic crane for load lifting in order to determine its dynamics, methods for lifting control and minimization of oscillations. The proposed procedure is modelling of crane with method of schematic design with inerconnected elements that represents crane parts, and its 3-d visualization. Simulations will be planned and applied for lifting motion of Crane's Boom with hangind load. Dynamic analysis will be carried through simulations and solution of Euler differential equations of second order. Diagrams with results of main dynamic and kinematic parameters will be presented for main parts of crane as the solution results of the analyzed system. Based on these results conclusions will be presented. The aim is to find optimal lifting control process and dynamic behavior of crane which is important for motion planning, failure analysis and safety during work. Analysis will be done using modeling and simulations with computer application MapleSim.