起重机吊重摆角的产生机理与动态仿真研究

针对吊重二自由度摆角非线性动力学模型，研究了起重机吊重摆角的产生机理和摆角的影响因素。起重机小车和大车同时做加（减）速的复合运动时，产生吊重二自由度摆角，摆角的大小受起升绳长度和小车运行加（减）速度大小的影响。动态仿真表明：小车运行加（减）速度对摆角的影响比绳长度显著；小车起动和制动时，吊重做受迫摆动；当小车加（减）速度增大l倍时，吊重摆角约增大0．12rad，摆速约增大0．164rad／s；当绳长度增加2m时，摆角和摆速无明显变化，吊重自由摆动的周期约增加1．3s。

Research on Generating Mechanism of Load＇s Swing Angle for Overhead or Gantry Crane and Dynamic Simulation

Swing angel＇ s generating mechanism and influencing factors were investigated for the load＇ s swing angle on overhead or gantry cranes aiming at load＇ s two-degree-of-freedom swing angle non-linear dy- namic model. When the crane＇ s bridge and trolley complexly travel with some acceleration value simultane- ously, the load will bring two-degree-of-freedom swing angle. The load＇ s hoisting rope length and the acceler- ation of the bridge or trolley are the main influencing factors for the load＇ s swing angle. Dynamic simulation results show that the rope-length＇ s force is less prominent than the trolley-acceleration＇ s for the swing angle of load. The swing angle will increase 0. 12 rad and the swing angle-velocity value will increase 0. 164 rad/s when the trolley＇ s acceleration increase 1 time; the swing angle and swing angle-velocity will be indistinctively variational, but the uncontrolled swin~ periodicity will chan~e 1.3 .~_