吊头激励下的柔索摆系统建模与仿真

根据起重船柔索摆系统的运动特性，将其运动分解成相互独立的吊物摆动分量和吊索波动分量；采用弦振动理论构建了混合初始边界条件下确保存在唯一性的吊索波动数学模型，并利用无条件稳定的隐式差分法解决了其数值解的稳定性问题；采用以球坐标为摆动角的吊物摆动数学模型和叠加原理得到了逼真的柔索摆运动形态.仿真结果表明，所提出的数学模型和算法能够求解出逼真的柔索摆实时运动形态.

Modeling and Simulation of Flexible Cable Pendulum System Excited by Lifted Object Motion

According to the motion characteristics of flexible cable pendulum, the sling movement of crane vessel was decomposed into rope swing component and rope fluctuations component which are independent mutually. Using string vibration theory, this paper constructed a wire fluctuations mathematics model, which can ensure existence uniqueness under mixed initial boundary conditions. In addition, using unconditional stable hidden type difference method, it resolved the fluctuations equation numerical solutions stability. The life-like wire movement was obtained by applying a hanging property swing mathematics model in which ball coordinates represent swing angle and the principle of superposition. The simulation results show that the mathematical model and the algorithm proposed in this paper can effectively solve the realistic sling real-time motion.