【摘要】 根据桥式起重机抓斗的受力分析，建立了起重机水平运行与抓斗摆动关系的数学模型．应用最优控制理论，分别得出了起重机的水平运行规律与运行距离的最优时间控制方法、抓斗的摆动规律和消摆的最优时间控制方法．更多还原

【Abstract】 According to the mechanical analysis of bridge crane’s grab,the mathematical model between crane’s horizontal movement and grab swing is established.The horizontal moving rule and the optimizing time control method of the moving distance,and the swing rule of grab and the optimizing time control method of swing proof are respctively proposed with the theory of optimal control based on the model..更多还原