在倒立摆小车轨道较短的条件下实现倒立摆快速稳定的摆起，是摆起控制的难点。
Fast and stable swinging up at the situation of a shot track is the difficulty of swing-up control.
小车运行机构中涉及小车轮压计算、小车车轮、小车轨道、减速器、联轴器、电动机和制动器的选择计算等。
Vehicles involved in the operation of institutions pressure on the wheels, car wheels, car track, reducer, couplings, electrical and brake the choice of calculation.
安装前要对起重机安装跨度，金属结构主梁的拱度、水平旁弯，小车轨道高低差、轨距偏差，桥架对角线等进行测量。
To install the crane span before installation, camber, level of metal structure of main girder bending, trolley rail height difference, gauge deviation, diagonal bridge survey.
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