Dynamic responses of hydraulic crane during luffing motion

Based on the complete dynamic calculation method that was developed in our previous work [G. Sun, M. Kleeberger, Dynamic responses of hydraulic mobile crane with consideration of the drive system, Mech. Mach. Theory 38 (2003) 1489–1508], closed simulations for determining the dynamic responses of hydraulic crane during luffing motion with consideration of the cylinder drive system and luffing angle position control have been realized. Using Lagrange’s equation and the multi-body theory, the flexible model of crane luffing motion is established. The generalized cylinder driving forces are formulated with the virtual work principle. Coupling the boom structure, hydraulic actuator and luffing angle position control system, the total system equations are established. The calculation results show that the dynamic responses of crane are more sensitive to the luffing acceleration, in comparison with the luffing velocity. It is seen that this method is very effective and convenient for crane luffing simulation. It is also reasonably to see that the proposed complete dynamic method can be further used for optimal control of crane motion.