Considering that the lifting efficiency and stability of the four-bar portal crane will be affected by the swing of the lifting load and the structural vibration of the whole crane,a physical model of the four-bar portal crane lifting goods under variable amplitude and rotation was constructed by simplifying the model.According to D'Alembert's principle and Newton's second law,the dynamic differential equation of hoist swing was established,and the hoist swing during compound motion was analyzed.Matlab Simulink simulation software was used to simulate the dynamic differential equation with different acceleration,acceleration time and lifting wire rope length.The simulation results show that the combined motion of amplitude variation and rotation makes the swing center of goods tilt relative to the plumb position of the suspension point.The inclination angle varies with acceleration and acceleration time,and the swing period of goods increases with the length of hoisting wire rope.The acceleration time and the length of hoisting wire rope affect the initial swing angle of goods in the next movement stage,which affects the swing angle of goods in the next movement stage.
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