变绳长三维吊车系统动力学模型构建
Dynamic model establishment of the variable rope length cable 3D crane system
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摘要: 建立了桥式起重机变绳长三维吊车系统的动力学数学模型.该模型在桥式起重机设立坐标系时,选取系统目标控制变量作为坐标系的变量值,运用运动学基本原理分析小车的坐标位置,通过拉格朗日方程建立模型.该模型不仅将模型变量与控制目标变量对应起来,而且将系统的三维运动以及由这些运动导致的抓斗摆角的变化考虑其中.仿真结果表明,模型具有简单、直观、效果好等特性.Abstract: A dynamic mathematical model of the variable rope length cable 3D crane system of bridge crane was proposed based on Matlab.It in the process of building coordinate system,chose the goal control variables as the variable of the coordinate system,analysed the coordinates of the location and was based on Lagrange equations.The variable of model was not only linked with the variable of control,but the changing of grabbing buckets' place caused by crane system was considered.The simulation results showed that the dynamic mathematical model was simple and tracking quickly.
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Key words:
- bridge crane /
- variable rope length cable 3D crane system /
- dynamic model /
- Matlab
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