本文建立了在纵浪上航行船舶的非线性参数激励横摇运动方程，研究了当升沉固有频率接近横摇固有频率时船舶的稳定性。
A nonlinear parametric excitation equation is obtained for ships in longitudinal waves, and the dynamic stability is analyzed when the natural frequency of heave and roll are approximately equal.
同时对检测臂进行了模态分析，测出了其固有频率和结构振型，为检测车工作时的稳定性要求提供了参考。
Meanwhile, the modal analysis is used to test the detection arm's natural frequency and structural vibration modes, which provides a reference for the stability test of the bridge inspection vehicle.
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