Mechanics & Industry 21, 210 (2020)

© AFM, EDP Sciences 2020 Mechanics

https://doi.org/10.1051/meca/2020003 &Industry
Available online at:
www.mechanics-industry.org

REGULAR ARTICLE

Study on torsional vibration of RT60 crane transmission system

Nengqi Xiao1,2,*, Xiang Xu1,2, and Ruiping Zhou3
1
Hubei Key Laboratory of Hydroelectric Machinery Design & Maintenance, China Three Gorges University, Yichang, PR China
2
College of Mechanical and Power Engineering, China Three Gorges University, Yichang, PR China
3
School of Energy and Power Engineering, Wuhan University of Technology, Wuhan, PR China

Received: 15 July 2019 / Accepted: 2 January 2020

Abstract. In the process of engineering use, the elastic coupling of the RT60 crane transmission system has a
large noise and even breaks down sometimes. In this paper, RT60 crane transmission system is the research
object. A finite element model and a discrete model for torsional vibration of transmission system are established
by finite element method and lumped parameter method. Through the study of the finite element model and the
vibration test of transmission system, the correctness of the system model, equivalent parameter, calculation
method and MATLAB program are verified. Because of the high efficiency of the torsional vibration discrete
system, the discrete model is used in this paper to replace the finite element model. The free vibration and
response vibration of the crane transmission system are calculated and analyzed, and the reasons for the
existence of the system noise are explained in the starting stage. Through the study of the vibration theory and
the matching method of the elastic coupling, the CX-45-VFA-60-11 elastic coupling is proposed to replace the
CX-45-VFA-11 elastic coupling. In this paper, the data signal is collected by the hall gear sensor, and the data
are analyzed by the self-developed vibration tester. The vibration amplitude of the torsional vibration of the
crane transmission system is greatly reduced by testing the transmission system of the replacement of the elastic
coupling. This paper provides a theoretical guiding significance for the low noise design of the crane transmission
system.
Keywords: Crane / torsional vibration / elastic coupling / finite element model / lumped parameter model

1 Introduction As a complex vibration system, a crane is composed of

several subsystems with inherent vibration characteristics
With the increasing number of domestic construction [5,6]. The power train is an important source of vibration
industries, including railways, bridges and highways, a and the noise of crane, which is composed of power
crane is widely used as the main equipment in the assembly, drive shaft and drive axle assembly [7]. In recent
construction process. A crane is a lifting machine that years, it is very urgent to further study the vibration
lifts heavy objects vertically within a certain range. The characteristics of the power transmission system with the
wheel crane is developed from the crawler crane [1]. It turns improvement of the comfort and the vibration of the crane
the crawler and the walking bracket into the chassis with [8,9]. The research on torsional vibration characteristics of
the tire and overcomes the defects of the crawler’s crawler crane power transmission system is mainly based on
board on the pavement. In the engineering application, the traditional theoretical calculation. According to the
crane has the characteristics of complicated structure, poor principle of constant kinetic energy and potential energy,
working environment, large working load and large the system is simplified as an equivalent system consisting
vibration [2], which cause the crane transmission system of inelastic inertia plates and mass-less elastic shafts.
to malfunction. In order to improve the comfort of crane According to the equivalent system, the corresponding
drivers during driving and extend service life of parts of mechanical model and mathematical model are established
crane transmission system, it is of great significance to to calculate the inherent characteristics of torsional
study the torsional vibration mechanism and the calcula- vibration [10,11]. The theoretical analysis method has
tion method of crane transmission system [3,4]. high accuracy only for the simpler model [12,13]. With the
development and wide application of computer technology,
it has laid a material foundation for the study of torsional
* e-mail: [email protected] vibration. The calculation of the traditional Holzer method
2 N. Xiao et al.: Mechanics & Industry 21, 210 (2020)

[14,15], the energy method [16,17] and the amplification

factor method [18] can be easily realized by computer.
These methods can deal with torsional vibration calcula-
tion of complex systems. The continuous development of
internal combustion engine to high speed and high power
makes the torsional vibration of crane transmission system
more intense, and it also causes accidents such as shaft
breaking, elastic coupling failure and force transmission
bolt failure [19,20]. In order to better understand the
torsional vibration characteristics of crane transmission
system, system matrix method [21] and finite element Figure 1. Equivalent system diagram of crane transmission
method are widely used [22,23]. Because of the complex system.
structure, multiple excitation sources and operation
conditions, the mechanism of vibration is complex and
needs further study.
In 1916, the first torsional vibration measurement
device was invented by German Geiger. The device had a 2 Modeling of crane transmission system
simple and ingenious measurement principle. It used
mechanical structure and separations and torsional Because the crane is widely used in road and bridge
vibration of the inertial components. It realized the projects, housing construction projects and large water
measurement of the middle and low frequency torsional conservancy and hydropower construction projects, its
vibration signals and laid the foundation for the research working environment and operation condition are relative-
of torsional vibration measurement technique. With the ly poor, so the crane drive system failure frequency is
development of electronic technology and new sensor higher. Through the analysis and classification of the fault
technology, the torsional vibration measurement tech- characteristics of a series of crane transmission systems, the
nology has made great progress. At present, the torsional failure of the elastic coupling component of crane is one of
vibration measurement technology can be divided into the important faults. The main reason for the failure of
contact type [24,25] and non-contact type, [26,27] elastic couplings is caused by torsional vibration of crane
according to the relative position relationship between shafting. In this paper, the torsional vibration character-
the sensor and the measured axis. The contact torsional istics of crane transmission system and the influence rule of
vibration measurement technology is a torsional vibra- elastic coupling on torsional vibration are analyzed and
tion measurement method that the sensor is mounted on studied with RT60 crane as the research object.
the measured axis and rotates along the measured axis The transmission system of RT60 heavy cranes is
[28,29]. Generally, it is necessary to use wireless composed of diesel engine, high elastic coupling, universal
transceiver or slip ring to output electrical signals on coupling, torque converter, gearbox, differential, main
the rotating shaft. The non-contact torsional vibration reducer, front and rear axle, tire and so on, as shown in
measurement technology is a torsional vibration mea- Figure 1. The heavy crane has the characteristics of
surement method that the sensor is not directly complex operating conditions and heavy transmission load,
connected with the measured shafting [30,31]. The which leads to high damage probability of elastic coupling
instantaneous change speed is measured directly through and other parts. In order to optimize the vibration
the speed sensor, and the instantaneous change speed characteristics of the crane transmission system and
signal is converted to the electrical signal, and the increase the life of the elastic coupling, this paper studies
torsional vibration signal is extracted by electronic the matching of the elastic coupling based on the vibration
technology or data processing. of the transmission system.
In this paper, a finite element model and a discrete The high elastic coupling of the transmission shaft of
model of the torsional vibration of a transmission system the construction machinery is subjected to high speed, high
are established by taking the crane transmission system torque and strong impact, and at the same time it also
as the research object. The finite element method and the suffers from high temperature, fuel and lubricating oil
system matrix method are used to calculate and analyze pollution. In addition, with the further improvement of the
the free vibration of the transmission system, and the performance requirements of construction machinery, the
correctness of the transmission system model and the requirements for the vibration of transmission shaft of
equivalent parameters are verified. The system matrix construction machinery are getting higher and higher.
method and the flexible coupling vibration theory are Therefore, with the development of construction machin-
used to calculate and analyze the forced vibration of the ery technology, it is more and more important to select the
crane transmission system. In order to reduce the high elastic coupling of transmission shaft, correctly. The
vibration of the crane transmission system, the most principle of high elastic vibration reduction can be
reasonable elastic coupling is matched for the transmis- explained by the simplest double quality system. It has
sion system. By testing the torsional vibration of the a certain guiding function in practical application. In this
crane, the correctness of the elastic coupling technique paper, the model and vibration theory of elastic coupling
and the theoretical calculation method of torsional are studied firstly. The elastic coupling is converted into a
vibration are verified. double mass system, as shown in Figure 2.
 N. Xiao et al.: Mechanics & Industry 21, 210 (2020) 3

Figure 3. Finite element model of hydraulic torque converter

front-end drive system.

Figure 2. Two-quality system of high elastic coupling.

Figure 4. Equivalent system diagram of crane transmission system.

According to the theory of torsional vibration, the In the calculation and analysis of the torsional vibration
vibration differential equation of elastic coupling can be of the crane shafting, it can be divided into two
established as follows. independent torsional vibration systems. The system
includes diesel engine, torque converter, pump wheel
I 1€u 1 þ Cðu_ 1  u_ 2 Þ þ Kðu1  u2 Þ ¼ T m sin v ð1Þ system and turbine tire system. This paper focuses on diesel
engine, hydraulic torque converter and pump wheel
system. The finite element model and discrete model of
I 2€u 2 þ Cðu_ 2  u_ 1 Þ þ Kðu2  u1 Þ ¼ 0 ð2Þ the transmission system are established by finite element
method and lumped parameter method, respectively. The
where I1 is the active end inertia (the excitation end). I2 is finite element model of the transmission system is built
the inertia of driven end. K is the coupling stiffness. C is with finite element software, as shown in Figure 3.
the coupling damping coefficient. Tm sin v is the excitation The torsional vibration model of a diesel engine to a
torque. hydraulic torque converter is established by using lumped
According to the principle of mechanical vibration, the parameter method, as shown in Figure 4. The torsional
vibration torque transmitted by couplings is vibration equivalent parameters of the system are given in
Table 1.
T ðtÞ ¼ Cðu_ 2  u_ 1 Þ þ K ðu2  u1 Þ ð3Þ

By solving differential equations (1)–(3), the particular 3 Vibration calculation and analysis of crane
solution (steady-state solution) is obtained, and the transmission system
amplitude of T is
vffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi In order to get the torsional vibration model of
u  2
u Cv transmission system in Figure 4, the model of the
u 1 þ
I2 u K components of the transmission system is established.
T¼ T mu
u 2  2 ð4Þ The torsional vibration model of the transmission system
ðI 1 þ I 2 Þ t v 2
Cv
1 2 þ is composed of 16 lumped inertia units and 15 massless
vn K spring elements. The torsional vibration model shown in
Figure 4 can be divided into several direct chain vibration
where vn 2 ¼ K II11þI
I2
2
models, as shown in Figure 5.
4 N. Xiao et al.: Mechanics & Industry 21, 210 (2020)

Table 1. Torsional vibration model of transmission system.

No. Inertia Stiffness Out- In- Identified No. Inertia Stiffness Out- In- Identified
(kgm2) (MNm/rad) diameter diameter (kgm2) (MNm/rad) diameter diameter
(mm) (mm) (mm) (mm)
1 0.0580 4.7900 – 0.0 Shock absorber 9 0.7800 – – 0.0 Flywheel
2 0.0200 2.0400 70.0 0.0 Sprocket 10 0.4570 0.0070 – 0.0 Elastic coupling
3 0.0410 1.3300 69.0 0.0 Cylinder 1# 11 0.1530 – 0 – Elastic coupling
4 0.0280 1.3300 69.0 0.0 Cylinder 2# 12 0.0472 1.500 90.0 85.0 Shaft
5 0.0400 1.3300 69.0 0.0 Cylinder 3# 13 0.0785 2.4600 90.0 85.0 Shaft
6 0.0400 1.3300 69.0 0.0 Cylinder 4# 14 0.0706 2.4400 50.0 0.0 Support shaft
7 0.0280 1.3300 69.0 0.0 Cylinder 5# 15 0.0500 3.7000 65.0 51.0 Shaft
8 0.0450 1.2100 69.0 0.0 Cylinder 6# 16 0.8640 – – – Pump wheel

Figure 6. Torsional vibration model of branch chain.

Figure 5. Torsional vibration model of straight chain.

Through the analysis of the model shown in Figure 6,
According to the model and mechanical vibration the torsional vibration differential equation of the m+1
theory, the torsional vibration differential equation of the mass point can be obtained by the same reason.
kth mass point can be established.
€ mþ1 þ C m;mþ1 ðf_ mþ1  f_ m Þ
J mþ1 f
€ k þ C k f_ k þ C k1;k ðf_ k  f_ k1 Þ þ C k;kþ1 ðf_ k  f_ kþ1 Þ
J kf
þC mþ1;mþ2 ðf_ mþ1  f_ mþ2 Þ þ K m;mþ1 ðfmþ1  fm Þ
þK k1;k ðfk  fk1 Þ þ K k;kþ1 ðfk  fkþ1 Þ ¼ T k ðtÞ ð5Þ
þK mþ1;mþ2 ðfmþ1  fmþ2 Þ þ C mþ1 f_ mþ1
Equation (4) can be converted to: þC mþ1;n ðf_ mþ1  f_ n Þ þ K mþ1;n ðfmþ1  fn Þ
€ k þ ðC k1;k þ C k;kþ1 Þf_ k  C k1;k f_ k1  C k;kþ1 f_ kþ1
J kf ¼ T mþ1 ðtÞ ð7Þ
þðK k1;k þ K k;kþ1 Þfk  K k1;k fk1  K k;kþ1 fkþ1 Equation (6) can be converted to:
þC k f_ k ¼ T k ðtÞ ð6Þ
€ mþ1 þ ðC m;mþ1 þ C mþ1;mþ2 þ C mþ1;n Þf_ mþ1
J mþ1 f
where Tk(t) is the excitation moment, in Nm. Jk is the kth
C m;mþ1 f_ m  C mþ1;n f_ n  C mþ1;mþ2 f_ mþ2
mass point’s inertia, in kg · m2. Kk,k+1 is stiffness between
the kth mass point and the K+1 mass point, in Nm/rad. Ck þðK m;mþ1 þ K mþ1;mþ2 þ K mþ1;n Þfmþ1  K m;mþ1 fm
and Ck,k+1 are external damping coefficients and internal
damping coefficients, in Nms/rad.fk , f_ k and fk represent K mþ1;mþ2 fmþ2  K mþ1;n fn þ C mþ1 f_ mþ1 ¼ T mþ1 ðtÞ
angular displacement, angular velocity and angular ð8Þ
acceleration.
In the torsional vibration model of the general complex where the meaning of each parameter in equations (4) and
system, there are not only the conventional direct chain (5) is the same as described above.
torsional vibration sub-models, but also the torsional To sum up, the torsional vibration equation of the
vibration sub-models with branches, as shown in Figure 6. torsional vibration model of the transmission system shown
 N. Xiao et al.: Mechanics & Industry 21, 210 (2020) 5

Figure 7. First order mode of the transmission system.

Table 2. Free vibration natural frequency. and MATLAB software can be used to calculate
the natural frequency value of the system, as shown in
Wn/ Harmonic 1 2 3 4 Table 2.
The calculation method of the resonance speed nc is as
r/min 935.48 11358.29 14927.89 32080.21
follows
Hz 15.60 189.39 248.91 534.90
Ni
nc ¼ ð12Þ
n

in Figure 4 can be obtained. where Ni is the natural frequency of the ith order, Hz. V is a
n o harmonic time. nc is the resonant speed, Hz.
 
½J  f þ ½C  f_ þ ½K ffg ¼ fT ðtÞg ð9Þ According to the above calculation method, the
resonant speed of the system can be obtained at various
harmonic times. In the operating speed range of diesel
where the damping matrix [C] can be divided into
engine (750 r/min–2200r/min), the first three order natural
[C] = [C0] + [C00]. [C0] is the external damping matrix, which
frequencies of the system may be consistent with the diesel
is consistent with the inertia matrix.[C00] is the internal
excitation frequency, which may lead to system resonance.
damping matrix, which is consistent with the stiffness
But the main harmonic rotational speed of the diesel engine
matrix. T(t) is the vector of the excitation torque. [J] is the
is about 311.8 r/min, which is outside the normal working
inertia matrix. [K] is the stiffness matrix.
speed of the diesel engine, and falls on the starting stage of
2 3 the diesel engine. The crane transmission system will have
J 1 0 ::: 0
6 0 J 2 ::: ::: 7 a large vibration noise in the start-up moment. The
½J  ¼ 64 ::: ::: ⋅ 0 5
7 ð10Þ vibration noise may be caused by the resonance speed
falling in the start-up phase.
0 ::: 0 J n In order to verify the correctness of discrete model,
equivalent parameter and natural frequency value, modal
2 3 analysis of crane transmission system in Figure 3 is carried
K 1;2 K 1;2
6 K 1;2 K 1;2 þK 2;3 7 out by ANSYS-finite element analysis software. The
6 7 natural frequency value of torsional vibration is extracted
6
½K ¼ 6 ⋯ ⋯ ⋯ ⋯ ⋯ 7 7 by the vibration characteristics. The torsional vibration
4 K n2;n1 þK n1;n K n1;n 5 modal analysis results of cx-45-vfa-11 elastic coupling drive
K n1;n K n1;n system can be obtained by calculation. Due to space
ð11Þ limitation, this paper only gives the finite element
calculation results of the first two order natural frequency
According to equation (8) and the equivalent param- values of the transmission system, as shown in Figures 7
eters of transmission system, the system matrix method and 8.
6 N. Xiao et al.: Mechanics & Industry 21, 210 (2020)

Figure 8. Second order mode of the transmission system.

Table 3. Comparison of free vibration results between

finite element model and discrete model.

Wn/ Harmonic 1 2 3
Finite element model (Hz) 14.91 181.35 237.71
Discrete model (Hz) 15.60 189.39 248.91
Error value 4.63% 4.43% 4.71%

Through the finite analysis and calculation of the

established transmission system model, the first three
natural frequencies of the system are 14.91 Hz, 181.35 Hz
and 237.71 Hz, respectively. As shown in Table 2, the
natural frequencies of the torsional vibration of the discrete
model of the transmission system calculated by the system
matrix method are given. The first three natural frequen-
cies of the system are 15.60 Hz, 189.39 Hz and 248.91 Hz,
respectively. After comparing the results of the finite Figure 9. Vibration torque diagram of elastic coupling.
element analysis with the results of the system matrix
method, the error values are 4.63%, 4.43% and 4.71%,
respectively. The error value is within the allowable range,
and the correctness of the transmission system discrete vibration curve of crane transmission system is drawn.
model, equivalent parameter and calculation method is The vibration torque curve of the elastic coupling of crane
verified, as shown in Table 3. transmission system can be obtained by calculation, as
For the analysis of elastic coupling (CX-45-VFA-11) shown in Figure 9.
torsional vibration characteristics and improving the According to the results of the vibration calculation
computational efficiency of the transmission system, shown in Figure 9:
forced vibration analysis is carried out on the discrete – When the crane transmission system operates at the
model of torsional vibration of transmission system. In the range of 750 r/min–2200 r/min, the maximum torsional
range of 200 r/min–2420 r/min, the speed range was vibration torque of the elastic coupling is 0.11 kNm.
divided into 121 points. The torsional vibration character- Because the maximum vibration torque value is less than
istics of crane transmission system at 121 speed points are the allowable value, the crane transmission system can
solved by system matrix method, and the torsional work normally within this speed range.
 N. Xiao et al.: Mechanics & Industry 21, 210 (2020) 7

Figure 11. Power curve of diesel engine.

Figure 10. Torque curve of diesel engine.

Table 4. Resonance speed changing with stiffness.

No. Elastic coupling stiffness 3 harmonic resonance No. Elastic coupling 3 harmonic resonance
(N.m/rad) speed in first order stiffness (N.m/rad) speed in first order
(r/min) (r/min)
1 3000 209.03 10 21000 547.33
2 5000 269.54 11 23000 572.15
3 7000 318.56 12 25000 595.83
4 9000 360.8 13 29000 640.26
5 11000 398.33 14 33000 681.42
6 13000 432.63 15 35000 700.97
7 15000 464.18 16 39000 738.25
8 17000 493.59 17 40000 747.23
9 19000 521.22 18 41000 756.08

– When the diesel engine speed is less than 750 r/min, the In order to avoid abnormal noise or elastic coupling
crane transmission system is in start-up phase. When the damage in crane transmission system, the dynamic stiffness
diesel engine speed is 310 r/min, the torsional vibration of the selected coupling should minimize the strong
torque value of the elastic coupling is 0.50 kNm. Since the torsional resonance in the working speed (750 r/min–
vibration torque value of the system exceeds the 2100 r/min) range of the crane. According to the
allowable value, the crane transmission system will have established torsional vibration model and the equivalent
abnormal noise and even the elastic coupling will be parameters of the system shown in Table 1, the resonant
broken during the starting process. speed of the crane transmission system is calculated at
In the engineering practice, the elastic coupling (CX- 3 harmonics when the stiffness value of the elastic coupling
45-VFA-11) of the RT60 crane transmission system was is within 3000–41 000, as shown in Table 4.
found to have an abnormal ring or fracture during the start- According to the calculation results of Table 4 and the
up process. In order to solve the failure of the elastic working speed (750 r/min–2100 r/min) of the crane
coupling of the transmission system, the elastic coupling of transmission system, the dynamic stiffness of the selected
the transmission system is calculated and studied accord- high elastic coupling should be at 3000–41 000 Nm/rad. By
ing to the elastic coupling theory and the system discrete consulting the manufacturer’s flexible coupling selection
mathematical model. manual, the CX-45-VFA-60-11 type elastic coupling
The original motive of the RT60 crane transmission replaces CX-45-VFA-11 type elastic coupling in the
system is the QSB6.7 model diesel engine of Cummins RT60 crane transmission system.
company. The torque curve and power curve of the diesel
engine are shown in Figures 10 and 11. 4 Vibration test and analysis of the crane
As can be seen from Figures 10 and 11, when the diesel transmission system
engine speed is 2000 r/min, the maximum power is 201 kW.
When the speed is 1500 r/min, the maximum torque is 4.1 Test principle and measurement point
990 Nm. Therefore, considering the temperature influence arrangement
and working conditions of the high elastic couplings, the
rated torque of the selected high-elastic couplings should be This test only has two measuring points on the transmis-
no less than 1800 Nm. sion shaft system, as shown in Figure 12. One of the
8 N. Xiao et al.: Mechanics & Industry 21, 210 (2020)

Figure 14. Comparison of theoretical and measured values of

vibration torque of elastic couplings (CX-45-VFA-60-11).

with different output periods per revolution will be

generated due to the fluctuation of instantaneous speed.
Since the time of each pulse signal is ti, the average speed of
v and instantaneous speed vi can be obtained.

X
N
v ¼ 2p= ti ðrad=sÞ ð13Þ
i¼1

vi ¼ ð2p=NÞ=ti ðrad=sÞ ð14Þ

Figure 12. Layout of torsional vibration measurement point.

4.2 Test and analysis

According to the above survey point layout and testing

instrument, sensors and testing instruments are installed
on the RT60 crane, as shown in Figure 14. The data
acquisition of the transmission system is carried out under
the crane lifting condition. According to the above test
principle and vibration measuring point, the torsional
vibration test is carried out for the transmission system of
type CX-45-VFA-60-11 elastic coupling. Due to the short
start-up time of the crane, this instrument cannot measure
the torsional vibration of the transmission system within
the range of 0–750 r/min. Therefore, the torsional vibration
characteristics of the drive system are measured in the
working speed range. The results of the test are shown in
Figure 13. Test principles of non-contact measuring method.
Figure 14. When testing the speed range of normal
operation of cranes, vibration data acquisition started at
750 r/min of diesel engine, and the speed interval is
measuring points is arranged at the flywheel, and the other increased to 50 r/min.
one is arranged in the elastic coupling from the moving end
flange. In the course of testing, two measuring points are – After replacing the elastic coupling, the crane transmis-
collected simultaneously with the self-developed YDZT- sion system runs smoothly at start-up, and there is no
2013 model torsional vibration test instrument. By using abnormal sound.
the Hall Gear sensor to obtain the signal, the sensor and the – By comparing the calculated results with the measured
shafting vibration tester are connected by the shielding values, the error between the theoretical value and the
cable to realize the data collection and storage. The measured value is about ±10%. The torsional vibration
measured data are analyzed by the computer special model, equivalent parameter and calculation method of
analysis software, and the frequency spectrum data and crane transmission system are verified.
frequency speed curve of each test condition are obtained. – The theoretical value of the elastic coupling torque
The sensor used in the test system is an eddy current shown in Figure 9 is compared with the elastic coupling
sensor. The non-contact electrical measuring method is value shown in Figure 14. In the range of 750 r/min–2200 r/
adopted to improve the shafting torsional vibration testing, min speed, the maximum torque of the elastic coupling
as shown in Figure 13. When using the sensors of N grating (CX-45-VFA-11) is 0. 110 kN.m, but the maximum torque
pulses or gear pulses per revolution, the N pulse signals of the elastic coupling (CX-45-VFA-60-11) of the
 N. Xiao et al.: Mechanics & Industry 21, 210 (2020) 9

transmission system is 0.088 kN.m. Therefore, the [2] P. Romanowicz, Numerical assessment of fatigue load
vibration torque value of the elastic coupling of the capacity of cylindrical crane wheel using multiaxial high-
transmission system is reduced by 20% after the replace- cycle fatigue criteria. Arch. Appl. Mech. 87, 1–20 (2017)
ment of the elastic coupling. [3] A. Zankl, E.L. Duncan, et al. Vibration test and analysis
system for construction machinery based on labwindows/
CVI, Metrol. Meas. Tech. 90, 494–501 (2008)
5 Conclusion [4] L.F. Stikeleather, Evaluating the vibration and shock
isolation qualities of operator seats for construction
– In this paper, the finite element method and the lumped machinery, Synth. Commun. 39, 1929–1935 (1973)
parameter method are used to construct the finite [5] J.E. Johnson, D.E. Wasserman, Ergonomics and vibration in
element model and the discrete model for calculation of powered hand tools used in meat processing, J. Low Freq.
the torsional vibration of the crane transmission system. Noise Vib. Active Control 19, 1–15 (2000)
The correctness of the discrete model, the equivalent [6] J. Wu, Q. Wu, L. Ma, et al. Parameter vibration and
dynamic stability of the printing paper web with variable
parameter, the calculation method and the MATLAB
speed, J. Low Fr eq. Noise Vib. Active Control 29, 281–291
program are verified by the results of the finite element
(2010)
calculation and the test results of the vibration. [7] S. Kotake, K. Yagi, T. Takigami, Application of sampled-
– The free vibration and forced vibration of the RT60 type data control by using vibration manipulation function to
crane transmission system of the CX-45-VFA-11 type suppress residual vibration of travelling crane, Mech. Eng. J.
elastic coupling are calculated and analyzed. It is found 2, 15-00033–15-00033 (2015)
that there are obvious resonance points and large [8] A. Arena, W. Lacarbonara, A. Casalotti, et al., Payload
amplitude in the starting phase of the crane drive oscillations control in harbor cranes via semi-active vibration
system. The torsional vibration characteristics of crane absorbers: modeling, simulations and experimental results,
transmission system are analyzed. Procedia Eng. 199, 501–509 (2017)
– The excessive torsional vibration will result in the [9] D. Kang, W.S. Lee, et al., Characteristics of construction
abnormal sound of the elastic coupling and even the machinery noise and vibration, Trans. Korean Soc. Noise
damage of the crane transmission system. Through the Vib. Eng. 15, 645–651 (2005)
study of the theory and matching method of elastic [10] C.W. Lim, L. Cheng, Y. Jinlin, Free torsional vibration of
coupling, CX-45-VFA-60-11 type elastic coupling is nanotubes based on nonlocal stress theory, J. Sound Vib.
proposed to replace CX-45-VFA-11 type elastic coupling. 331, 2798–2808 (2012)
After the replacement of the elastic coupling, the [11] A.M. Najafov, A.H. Sofiyev, N. Kuruoglu, Torsional
vibration amplitude of the RT60 crane transmission vibration and stability of functionally graded orthotropic
system is reduced by 20%. cylindrical shells on elastic foundations, Meccanica 48,
– The torsional vibration signal of crane transmission 829–840 (2013)
system is obtained through the hall gear sensor, and the [12] A. Alexander, A. Vacca, D. Cristofori, Active vibration
damping in hydraulic construction machinery, Procedia Eng.
data acquisition and analysis are carried out by the self-
176, 514–528 (2017)
developed torsional vibration instrument. The test
[13] J. Chen, R.B. Randall, B. Peeters, Advanced diagnostic
method is helpful to understand the torsional vibration system for piston slap faults in IC engines, based on the non-
characteristics of crane transmission system. This paper stationary characteristics of the vibration signals, Mech.
provides guidance for the low noise design of a crane Syst. Signal Process. 75, 434–454 (2016)
transmission system. [14] C. Peeters, P. Guillaume, J. Helsen, A comparison of cepstral
editing methods as signal pre-processing techniques for
The authors would also like to thank the editors and anonymous vibration-based bearing fault detection., Mech. Syst. Signal
reviewers for their insightful comments that helped improve this Process. 91, 354–381 (2017)
paper. The author(s) disclosed receipt of the following financial [15] D. Remond, Practical performances of high-speed mea-
support for the research, authorship, and/or publication of this surement of gear transmission error or torsional vibrations
article: the authors acknowledge the support of the National with optical encoders, Meas. Sci. Technol. 9, 347–353 (1998)
Natural Science Foundation of China (No. 51479154) and [16] T.W. Spaetgens, B.C. Vancouver, Holzer method for forced-
Tsinghua university open fund (grant number KF16222). damped torsional vibrations, J. Appl. Mech. Trans. ASME
17, 59–63 (1950)
Conflict of interest [17] H.E. Fettis, Vibration modes of a two-beam system by the
Holzer method, J. Aerosp. Sci. 29, 15–20 (2014)
[18] B.A.J. Mustafa, A. Roszaidi, An energy method for free
The author(s) declared no potential conflicts of interest
vibration analysis of stiffened circular cylindrical shells,
with respect to the research, authorship, and/or publica-
Comput. Struct. 32, 355–363 (1989)
tion of this article. [19] T. Hermann, M. Witalis, Assessment of the effectiveness of
anti-vibration gloves. A comparison of the conventional and
References energy method. analysis and interpretation of results-Part
Two, Vib. Phys. Syst. 28, 1–9 (2017)
[1] W. He, S. Zhang, S.S. Ge, Adaptive control of a flexible crane [20] Z.-g. Song, Y. Zhang, Analysis of the dynamic amplification
system with the boundary output constraint, IEEE Trans. factor of latetral structural vibration induced by crowd-
Ind. Electron. 61, 4126–4133 (2014) bridge interaction, J. Vib. Shock 34, 19–23 (2015)
10 N. Xiao et al.: Mechanics & Industry 21, 210 (2020)

[21] R. Feldhaus, H. Bach, System considerations concerning [26] S.H. Kia, H. Hena, A comparative study of acoustic vibration
alternative torsion vibration dampers in automobile drive and stator current signatures for gear tooth fault diagnosis,
trains, Atz Worldwide 104, 12–16 (2002) IEEE 2012, pp. 1514–1519
[22] W. Homik, Diagnostics, maintenance and regeneration [27] J. Rajnauth, Reduce torsional vibration and improve drilling
of torsional vibration dampers for crankshafts of operations, Int. J. Appl. Sci. Technol. 2, 109–123 (2012)
ship diesel engines, Pol. Marit. Res. 17, 62–68 [28] E. Kreuzer, M. Steidl, Controlling Torsional Vibrations of
(2010) Drill Strings Via Decomposition of Traveling Waves,
[23] N. Xiao, R. Zhou, X. Xu, Vibration of diesel-electric hybrid Springer-Verlag, Berlin, 2011, pp. 515–531
propulsion system with nonlinear component, J. Vib. [29] P.E. Troy Feese, Gudielines for preventing torsional
Control 24, 5353–5365 (2018) vibration problems in reciprocating machinery, Gas
[24] J.-J. Wu, Finite element analysis and vibration testing of a Machinery Conference 2002, pp. 1–48
three-dimensional crane structure, Measurement 39, 740– [30] Z.Q. Zhu, J.H. Leong, Aanalysis and mitigation of torsional
749 (2006) vibration of PM brushless DC drives with direct torque
[25] A. Lazarus, B. Prabel, D. Combescure, A 3D finite controller, IEEE, 2011 pp. 1502–1509
element model for the vibration analysis of asymmetric [31] S. Seidlitz, R.J. Kuether, Comparison of noise floors of
rotating machines, J. Sound Vib. 329, 3780–3797 various torsional vibration sensors, The Society for Experi-
(2017) mental Mechanics Springer, New York, 2012, pp. 153–168

Cite this article as: N. Xiao, X. Xu, R. Zhou, Study on torsional vibration of RT60 crane transmission system, Mechanics &
Industry 21, 210 (2020)