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Saving Time by Tip Control & Automation of Knuckle and Boom Hydraulic Crane
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- 발행기관
- 보안공학연구지원센터(IJHIT) 바로가기
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- 간행물
- International Journal of Hybrid Information Technology 바로가기
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- 통권
- Vol.9 No.4 (2016.04)바로가기
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- 페이지
- pp.235-254
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- 저자
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- 언어
- 영어(ENG)
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- URL
- https://www.earticle.net/Article/A272955
※ 원문제공기관과의 협약기간이 종료되어 열람이 제한될 수 있습니다.
원문정보
초록
- 영어
- This paper describes the steps involved in the tip control and automation of a hydraulic boom and knuckle crane which is used to position loads with accuracy and repeatability in shortest possible time. The crane is required to perform erection and installation of a modular bridge consisting of number of identical modules which have to be picked up or raised, moved along a predefined path and lowered at a drop point sequentially by the crane. Automation and tip control of the crane will reduce the burden on the operator and also save time. The requirement of raising and lowering of the loads require synchronised operation of two joints of the crane. For this purpose two different algorithms were derived, and the one which was feasible with the crane was used in the actual trials. For modelling and simulation of the crane, the kinematic equations of the crane were developed in MATLAB & the hydraulic circuit simulation & 3D Model of the crane simulation was developed in ITI_SimulationX. Actual system trials were done using dummy loads with the crane. The sensors to obtain feedback of joint angles were retrofitted on the existing crane structure. In place of the manual joystick controller, a new MMI based control system based on PLC was designed. The adapted crane can be operated manually by the individual valve joysticks as well as in automatic mode by the MMI and PLC based controller. The positions of the crane are taught to the controller using ‘teach’ mode in the controller. The controller calculates the new positions based on the kinematic equations and gives command to the valves to position the load accordingly.
목차
Abstract
1. Introduction
2. Crane Configuration
3.Kinematics of the Crane
4. Description of Hydraulic Circuit of Crane
5. Requirement of Crane Automation & Tip Control
6. Algorithm for Crane Lowering Operation
7. Simulation in ITI- SIM
8. Results
9. Conclusion
Acknowledgments
References
키워드
Knuckle Boom Hydraulic Crane Crane Tip Control Inclinometer Encoder Position error저자
간행물 정보
발행기관
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- 발행기관명
- 보안공학연구지원센터(IJHIT) [Science & Engineering Research Support Center, Republic of Korea(IJHIT)]
- 설립연도
- 2006
- 분야
- 공학>컴퓨터학
- 소개
- 1. 보안공학에 대한 각종 조사 및 연구 2. 보안공학에 대한 응용기술 연구 및 발표 3. 보안공학에 관한 각종 학술 발표회 및 전시회 개최 4. 보안공학 기술의 상호 협조 및 정보교환 5. 보안공학에 관한 표준화 사업 및 규격의 제정 6. 보안공학에 관한 산학연 협동의 증진 7. 국제적 학술 교류 및 기술 협력 8. 보안공학에 관한 논문지 발간 9. 기타 본 회 목적 달성에 필요한 사업
간행물
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- 간행물명
- International Journal of Hybrid Information Technology
- 간기
- 격월간
- pISSN
- 1738-9968
- 수록기간
- 2008~2016
- 십진분류
- KDC 505 DDC 605
이 권호 내 다른 논문 / International Journal of Hybrid Information Technology Vol.9 No.4
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