The Secondary Lifting Performance of Crawler Crane Under Delay Coefficient Control Strategy
Abstract
:1. Introduction
2. Crane Principle
2.1. Crane Working Mode
2.2. Mathematical Modeling of Secondary Lifting Systems
2.3. Analysis of Dynamic Characteristics of the Secondary Hoisting System
3. Electromechanical–Hydraulic Co-Simulation Modeling of Secondary Hoisting System
3.1. Simulation Model Establishment
3.1.1. Simulation Modeling of the Electric Control System of Lifting Mechanism
3.1.2. Mechanical Dynamics Simulation Modeling of Lifting Mechanism
3.1.3. Joint Simulation Model Establishment
3.2. Simulation Model Boundary Condition Setting
3.3. Simulation Without Control Strategy
4. Control Strategy Under the Influence of Delay Coefficient
4.1. Control Strategy Design
4.2. Simulation of Control Strategy
- (1)
- A simulation study on the influence of the dynamic performance of secondary lifting.
- (2)
- Simulation research on secondary lifting control strategy after adding interference.
5. Experimental Study of Secondary Lifting
5.1. Experimental Scheme
5.2. Experimental Test Results and Analysis of No Control Strategy
5.3. Experimental Test Analysis After Adding Control Strategy
6. Discussion
7. Conclusions
- (1)
- The secondary lifting performance of the crawler crane is analyzed using an electromechanical–hydraulic co-simulation platform, and the control strategy, which can adapt to different weights, is designed to solve the problem of secondary lifting and sliding.
- (2)
- Aiming at the problem of secondary lifting and sliding, a control strategy is designed and simulated. The anti-interference ability is analyzed by using a no-delay coefficient and considering the starting time of the motor. The secondary lifting experiment of the crawler crane is carried out. The experimental research is carried out without a control strategy and after adding a control strategy. The accuracy of the electromechanical–hydraulic co-simulation model is verified by comparing the experimental results with the simulation results.
- (3)
- The experimental data show that the proposed control strategy can effectively solve the problem of secondary lifting and sliding and has a good dynamic performance. Under different load conditions of 200–1000 t, the secondary lifting and sliding phenomenon did not appear in the control strategy. The average starting time of the motor was 1.32 s, and the average overshoot of the high-pressure chamber pressure of the motor was 1.75%. After adding interference, there was no secondary lifting and sliding phenomenon, and the over-shoot of the high-pressure chamber pressure did not exceed 5%. The optimal control strategy is obtained when the optimal delay coefficient is 0.70.
Author Contributions
Funding
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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System Parameter | Numerical Value |
---|---|
Engine parameter (r/min) | 1200 |
Hydraulic oil density (kg/m3) | 850 |
Viscosity of hydraulic oil (mm2/s) | 46 |
The maximum displacement of the main pump (mL/r) | 125 |
Maximum displacement of motor (mL/r) | 160 |
Replenishment pump displacement (mL/r) | 52 |
Compensating oil pressure (bar) | 30 |
Maximum system pressure (bar) | 350 |
Brake-opening pressure (bar) | 20 |
Diameter of drum (m) | 0.7 |
Speed ratio | 99 |
Part line of pulley block | 62 |
Diameter of wire rope (mm) | 32 |
Payload mass (t) | 200–1200 |
Load Mass (t) | Retardation Coefficient Kd | Motor Reverse Speed (r/min) | Pressure Overshoot of High-Pressure Chamber | Low-Pressure Chamber Minimum Pressure (bar) | Motor Delay Time (s) |
---|---|---|---|---|---|
200 | 0.55 | 58.9 | 1.7% | 31 | 1.47 |
200 | 0.70 | 0 | 1.6% | 31.4 | 1.54 |
200 | 0.85 | 0 | 8.8% | 31.3 | 1.63 |
600 | 0.55 | 163.3 | 2.2% | 25.1 | 1.25 |
600 | 0.70 | 0 | 2% | 29 | 1.3 |
600 | 0.85 | 0 | 1.8% | 28.8 | 1.37 |
1000 | 0.55 | 248.1 | 1.8% | 17.8 | 1.2 |
1000 | 0.70 | 0 | 1.5% | 24.8 | 1.25 |
1000 | 0.85 | 0 | 9.1% | 24.1 | 1.31 |
Load Mass (t) | Brake Interference Opening Time (ms) | Motor Reverse Speed (r/min) | Pressure Overshoot of High-Pressure Chamber |
---|---|---|---|
200 | −70 | 0 | 1.6% |
600 | −70 | 0 | 2% |
1000 | −70 | 0 | 1.5% |
200 | +70 | 0 | 4.8% |
600 | +70 | 0 | 4.7% |
1000 | +70 | 0 | 4.5% |
Control Strategy | Load Mass | Initial State | Handle Action | |
---|---|---|---|---|
1 | no | 1000 t | The weight is 0.5 m off the ground. | The weight-lifting handle is slowly pushed to the bottom; keep; the handle slowly returns to the median |
2 | yes | 200 t | ||
3 | yes | 600 t |
Contribution Area | Previous Works | Authors’ Proposal |
---|---|---|
Dynamic Control Strategies | Dynamic modeling and anti-sway control for vertical lifting of slender beam-shaped loads [18]; anti-sway positioning using sliding mode control [19]; time-optimal control for load sway suppression [20]. | Focuses on secondary lifting challenges, addressing load slipping caused by motor reversal during lifting transitions. |
Intelligent Algorithms | Utilization of LQR, fuzzy control, and neural network control to optimize crane lifting processes [23,24,25]. | Incorporates a delay coefficient and pressure memory algorithm to achieve stability in secondary lifting operations. |
Energy Recovery and Efficiency | Advanced energy recovery and position control strategies using neural networks and adaptive control [26,27,28]. | Ensures no load slipping and minimizes system shocks under varying load conditions (200 t, 600 t, 1000 t). |
System Stability and Safety | Enhanced safety in off-shore crane operations with cascaded NMPC-PID control strategies [27]. | Provides theoretical guidance for stable and efficient operation of crawler crane secondary lifting systems. |
Research Focus | Studies primarily address anti-sway control and dynamic modeling in cranes [12,13,14,15,16,17,18,19,20,21,22]. | Highlights unique challenges of secondary lifting in large-tonnage crawler cranes, focusing on hydraulic control. |
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© 2025 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
Share and Cite
Zhang, J.; Du, R.; Zhang, K.; Zhang, Y.; Li, Y.; Chen, X. The Secondary Lifting Performance of Crawler Crane Under Delay Coefficient Control Strategy. Machines 2025, 13, 106. https://doi.org/10.3390/machines13020106
Zhang J, Du R, Zhang K, Zhang Y, Li Y, Chen X. The Secondary Lifting Performance of Crawler Crane Under Delay Coefficient Control Strategy. Machines. 2025; 13(2):106. https://doi.org/10.3390/machines13020106
Chicago/Turabian StyleZhang, Jin, Ranheng Du, Kuo Zhang, Yin Zhang, Ying Li, and Xing Chen. 2025. "The Secondary Lifting Performance of Crawler Crane Under Delay Coefficient Control Strategy" Machines 13, no. 2: 106. https://doi.org/10.3390/machines13020106
APA StyleZhang, J., Du, R., Zhang, K., Zhang, Y., Li, Y., & Chen, X. (2025). The Secondary Lifting Performance of Crawler Crane Under Delay Coefficient Control Strategy. Machines, 13(2), 106. https://doi.org/10.3390/machines13020106