说明：  本人编写的拉格朗日法建立的空间双摆吊车的动力学模型，亲测可运行，对研究三维双摆吊车的防摆控制问题的具有较高的研究价值
(The dynamic model of space double pendulum crane based on Lagrange method compiled by myself can be operated by personal test, which has high research value for the study of anti swing control of three-dimensional double pendulum crane)