中文摘要：

起重船在波浪的作用下会引起吊重的大幅摆动,从而导致海上作业被迫停工.根据拉格朗日方程建立了吊物摆振三维非线性动力学模型,其中考虑了起重机吊重的升降运动等操作.采用数值仿真的方法对吊重的动力响应进行了研究,结果表明吊索长度、起吊速度以及激励频率等因素对吊物系统动力响应有重要影响,且吊重的面内、外摆角之间存在相互耦合作用.得到的结论可用于起重船吊物系统振动的预测与控制.

英文摘要：

The wave-induced motion of the crane ship can produce large pendulation of the cargo being hoisted and cause operations to be suspended. In this work, a nonlinear three-dimensional lifting load system dynamic model was set up based on the general form of Lagrange＇s equation. Basic crane maneuvers such as cable reeling and unreeling, are taken into consideration. The dynamic response of the cargo was studied using numerical methods. The result demonstrates that the dynamic response of the cargo depends on the length of cable, reeling and unreeling speed and wave frequency, and the inplane angle have coupling with the out-of-plane angle. Conclusions drawn from this work can be used for cargo pendulation forecast and reduction.