According to the horizontal moving rule of bridge crane and the swing rule of grab, We propose a method about swing proof of grab.
根据桥式起重机水平运行规律及抓斗摆动规律，提出了抓斗防摆的一种方法。
This is the Zhongyuan Oilfield in recent years, the maximum span of the construction of gas pipeline project, a pipeline project, but also that the first swing truss bridge tower.
这是中原油田近年来承建输气管道工程跨径最大的一项管道铺设项目，同时也是国内第一个摇摆塔式桁架桥。
According to the mechanical analysis of bridge crane's grab, the mathematical model between crane's horizontal movement and grab swing is established.
根据起重机抓斗的受力分析，建立了起重机水平运行与抓斗摆动关系的数学模型。
As to the horizon motion system of Bridge Crane is a nonlinear, variation parameter and strong coupling system, the nonlinear PID controller is used for positioning and anti-swing.
针对桥式吊车水平运动系统是一个非线性、变参数、强耦合的对象，采用非线性PID控制器进行定位和防摆控制。仿真实验结果表明，系统具有良好的动态、静态特性和强的鲁棒性。
As to the horizon motion system of Bridge Crane is a nonlinear, variation parameter and strong coupling system, the nonlinear PID controller is used for positioning and anti-swing.
针对桥式吊车水平运动系统是一个非线性、变参数、强耦合的对象，采用非线性PID控制器进行定位和防摆控制。仿真实验结果表明，系统具有良好的动态、静态特性和强的鲁棒性。
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