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.
将桥架横放在轨道上或架子上，最好架在于支腿链接用的支承面上，用水平仪测出两端支承面上边的小车轨道的水平标准。
The bridge across the track or on the shelf, the best frame is bearing surface of leg link on the standard level measured at both ends of the bearing surface on the trolley track.
轨道是起重机或小车平稳运行的基础，一般要求每年检查2 ~4次。
Track is the foundation of crane or car running smoothly, generally requires checking 2 ~ 4 times every year.
控制器的设计是以线性伺服控制理论为基础的，它不仅能够消除由于轨道倾斜所带来的扰动，也能使系统跟踪其设定信号，使小车稳定在参考位置上。
The control law includes the integration term which not only eliminates the constant disturbance due to the inclined rail but also assures the cart of following the given reference position.
本文介绍了一个小车放在倾斜轨道上的平行倒立摆数字控制系统。
The control system design for a parallel inverted pendulum on an inclined rail has been successfully implemented.
起重机小车轮压经轨道传给箱形主梁上盖板和腹板，使之产生局部应力。
The local stress in the box beam is caused by the wheel pressure of the trolley conveyed along the track onto the upper flange and the web of the beam.
由于整个寻优过程中将小车位移与摆起时间均为优化参数，该方法可以达到在长度受限的轨道上以较少的时间实现摆起的目的。
In the whole process looking for the optimal, the car displacement and the swing-up time are optimal parameters, it is achieved that to swing up in a little time on a limited track-length.
摘要：一种轨道式龙门起重机由于多年运行，其小车轮频繁出现走偏现象。
Abstract: the trolley wheel of some kind of gantry crane appeared the phenomenon of slanting. After several years' usage.
由于空腹轨道内空间小，驱动轮安装在空腹轨道外部，靠弹簧力产生的摩擦力带动小车运行。
Because the inner space of a hollow track is small, a driving wheel is arranged outside the hollow track in the prior art, and a dolly is driven to move by friction force generated by spring force.
由于空腹轨道内空间小，驱动轮安装在空腹轨道外部，靠弹簧力产生的摩擦力带动小车运行。
Because the inner space of a hollow track is small, a driving wheel is arranged outside the hollow track in the prior art, and a dolly is driven to move by friction force generated by spring force.
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