电动葫芦，冶金葫芦，环链葫芦，手拉葫芦，单轨小车，抓斗，电动平车，起重电磁铁，手扳葫芦，吊索具，千斤顶，卷扬机，轴承。
Metallurgical hoist, electric hoist, chain hoist, chain hoists, trolleys, grab, electric flat car, lifting electromagnet, hand hoist, sling, Jack, hoist, bearing.
牵引小车式抓斗卸船机是目前国际国内各港口接卸散货船的重要设备。
Grab ship unloader with rope trolley type is the important equipment used for unloading buck ship in whole world's ports at present.
为实现对小车的位置和抓斗的摆动分别控制而设计了两个控制回路，其中一个回路采用常规的PID算法来调节小车的位置和速度，同时另一个回路则利用模糊逻辑控制器来消除抓斗的摆动。
Two control loops are devised: a conventional PID regular is used to control the position and velocity of the trolley, and a fuzzy logic controller is proposed to the anti-swing control of the load.
第四部分（第六章）主要介绍抓斗起重机智能控制的软件结构，PLC组态、还详细写出大车、小车、起升开闭机构的软件程序。
The fourth part (Chapter VI) introduces grab cranes intelligent control software structure, the PLC configuration, but also detailed write truck, car, or opening and closing from the software program.
第四部分（第六章）主要介绍抓斗起重机智能控制的软件结构，PLC组态、还详细写出大车、小车、起升开闭机构的软件程序。
The fourth part (Chapter VI) introduces grab cranes intelligent control software structure, the PLC configuration, but also detailed write truck, car, or opening and closing from the software program.
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