【摘要】 针对塔式起童机载荷运动及摆动的特点 ,建立了极坐标系和非惯性球坐标系 ,根据拉格朗日运动方程建立塔式起重机载荷摆动的非线性模型 ,计算出载荷摆动的平衡状态 ,并推导出线性化模型 ,对塔机在各种工况下载荷摆动的动态特性进行了仿真。更多还原

【Abstract】 Considering to wer crane load moving and oscillation characteristics,this paper sets up a polar coordinate system and a spherical coordinate system featuring a non-inertial refeernce frame.The non-linear mathematical model of load oscillation is built based on the general form of Lagrangian equation.The equilibrium is found.The linearized model around the equilibrium is derive.The dynamic behavior of load oscillation is simulated under all kinds of operation conditions.更多还原