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Rigid-Flexible Coupling Dynamic Modeling of a Tower Crane with Long Flexible Boom

机译：长软臂塔式起重机的刚性柔性耦合动态建模

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A mathematical model of a tower crane with long flexible boom is given in this paper. Both the vertical deformation and the horizontal deformation of the boom which is modelled as an Euler-Bernoulli boom as well as the tie bars' effects are considered in the model. The Lagaragian method and the assumed mode method are combined to formulate the rigid-flexible coupling model which could fully describe its different motions. The nonlinear coupled motion equations are solved numerically by using Maple. A simplified ADAMS simulation model for a tower crane is built to verify the mathematical model. The dynamic responses of both the boom and the payload got from simulation and that got from numerical solving are analyzed in a comparative way. Several effects of the boom's deformations to the swing angles of the payload are proposed according to the results.
机译：本文给出了具有长柔性臂臂的塔式起重机的数学模型。 在模型中考虑了作为Euler-Bernoulli繁荣和系杆效果建模的垂直变形和臂的水平变形。 组合Lagaragian方法和假设的模式方法以制定刚性柔性耦合模型，该模型可以完全描述其不同的运动。 非线性耦合运动方程通过使用槭树来数量求解。 构建了塔式起重机的简化ADAMS仿真模型以验证数学模型。 以比较方式分析了繁荣和有效载荷的动态响应，并从数值求解得到了从数值求解。 根据结果提出了悬臂变形对有效载荷的摆动角度的几个效果。

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