Anti-swing control method, device and system for engineering machinery and storage medium

Abstract

The invention discloses an anti-swing control method, device and system for engineering machinery and a storage medium, and belongs to the technical field of building construction.The method comprises the steps that when the engineering machinery conducts hoisting operation, a target tracking point needing to be switched currently is determined from a planned path; estimating a target rotation angle, a target rotation distance and a target working amplitude of the engineering machinery reaching the target tracking point; according to the target rotation angle and the target rotation distance, the rotation speed of the engineering machine is controlled in a closed-loop control mode, and the rotation speed at any rotation moment does not exceed the highest speed gear set according to the target rotation distance; according to the target working amplitude, the amplitude variation speed of the engineering machinery is controlled in an open-loop control mode, and when the amplitude variation speed is reduced to a preset speed gear, the engineering machinery is controlled to carry out amplitude variation operation in a sliding output mode, so that the rapid acceleration and deceleration phenomena generated by amplitude variation and rotation operation can be reduced, obvious swing is avoided, and the stability of the engineering machinery is improved. And the anti-swing effect is improved.

Description

Technical Field

[0001] The present application belongs to the field of building construction technology, and in particular, relates to a method, device, system and storage medium for anti-sway control of construction machinery. Background Art

[0002] With the rapid development of high-rise buildings, the use of tower cranes (also known as tower cranes) has become more and more popular. It has become an indispensable and efficient construction machinery for high-rise buildings. With the continuous development of artificial intelligence technology, tower cranes are developing towards intelligent directions such as unmanned driving.

[0003] The planning and control method is a key link in the unmanned operation of tower cranes, and it places high demands on the safe and efficient operation of tower cranes. On the one hand, in order to avoid obstacles, tower cranes need to plan safe paths; on the other hand, in order to improve production efficiency, tower cranes need to track path trajectory points quickly and accurately.

[0004] However, the current robot planning and control method for tower cranes cannot avoid the obvious shaking (swing) of the load of the tower crane during movement when executing trajectory tracking, and this shaking may collide with other working cranes or other objects around, causing damage to the load and even causing serious safety accidents. Therefore, it is urgent to develop a tower crane planning and control method with anti-swing characteristics. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application proposes a swing control method, device, system and storage medium for engineering machinery, which can reduce the swing of a tower crane during movement and improve operation safety.

[0006] In a first aspect, the present application provides a method for controlling sway resistance of an engineering machinery, comprising:

[0007] When the construction machinery is performing hoisting operations, the target tracking point to be switched is determined from the planned path;

[0008] estimating a target rotation angle, a target rotation distance, and a target working range of the engineering machinery when it reaches the target tracking point;

[0009] During the tracking process of the target tracking point, the swing speed of the engineering machinery is controlled by a closed-loop control method according to the target swing angle and the target swing distance, wherein the swing speed at any swing time does not exceed the maximum speed gear set according to the target swing distance;

[0010] According to the target working amplitude, the amplitude change speed of the engineering machinery is controlled by an open-loop control method, and when the amplitude change speed is reduced to a preset speed gear, the engineering machinery is controlled to perform the amplitude change operation in a sliding output mode.

[0011] In some embodiments, controlling the rotation speed of the engineering machine by a closed-loop control method according to the target rotation angle and the target rotation distance includes:

[0012] In the process of tracking the target tracking point, according to the target rotation angle and the real-time measured rotation angle of the engineering machinery, a first two-stage series PID controller is used to output a real-time estimated rotation speed corresponding to each tracking moment;

[0013] The speed gear at which the real-time estimated rotation speed is located is used as the first estimated speed gear corresponding to the corresponding tracking moment, and the maximum speed gear of the tracking process is set according to the target rotation distance;

[0014] The rotation speed of the construction machine is controlled according to the first estimated speed gear and the maximum speed gear at each tracking moment.

[0015] In some embodiments, controlling the rotation speed of the engineering machine according to the first estimated speed gear and the maximum speed gear at each tracking moment includes:

[0016] The swing speed of the engineering machine is controlled according to the first estimated speed gear, the maximum speed gear and the target gear change rate at each tracking moment.

[0017] In some embodiments, controlling the rotation speed of the engineering machine according to the first estimated speed gear, the maximum speed gear and the target gear change rate at each tracking moment includes:

[0018] When the first estimated speed gear is greater than the maximum speed gear, taking the maximum speed gear as the target speed gear at the corresponding tracking moment;

[0019] When the first estimated speed gear is less than or equal to the maximum speed gear, taking the first estimated speed gear as the target speed gear at the corresponding tracking moment;

[0020] According to the target gear change rate, the speed gear of the rotation speed of the engineering machine is controlled to increase or decrease to the target speed gear.

[0021] In some embodiments, controlling the amplitude change speed of the engineering machinery by an open-loop control method according to the target working amplitude includes:

[0022] According to the target working amplitude, an S curve is output through an open-loop control method, wherein the S curve is a curve of real-time estimated amplitude change speed over time during the tracking process;

[0023] Determine the speed gear position of each real-time estimated amplitude change speed in the S curve, and obtain the second estimated speed gear position at the corresponding tracking moment;

[0024] The speed gear of the amplitude change speed of the engineering machine is switched according to the second estimated speed gear, wherein when the second estimated speed gear is reduced to a preset speed gear, the engineering machine is controlled to perform the amplitude change operation in a coasting output mode.

[0025] In some embodiments, the anti-sway control method for engineering machinery further includes:

[0026] estimating a target lifting height of the engineering machinery when reaching the target tracking point;

[0027] The lifting speed of the engineering machinery is controlled by a closed-loop control method according to the target lifting height and a second two-stage series PID controller.

[0028] In some embodiments, the planned path includes a starting point, a first inflection point, a second inflection point, and an end point in sequence, and determining the target tracking point to be switched from the planned path includes:

[0029] When it is detected that the engineering machine starts to move from the starting point, the first turning point is used as a target tracking point to be switched currently;

[0030] When it is detected that the engineering machinery enters the turning area where the first turning point is located, the second turning point is used as the target tracking point to be switched currently;

[0031] When it is detected that the engineering machinery enters the turning area where the second turning point is located, the end point is used as the target tracking point that needs to be switched currently.

[0032] In a second aspect, the present application provides a sway control device for engineering machinery, comprising:

[0033] The path tracking module is used to determine the target tracking point to be switched from the planned path when the construction machinery is performing hoisting operations;

[0034] An estimation module, used for estimating a target rotation angle, a target rotation distance and a target working range of the engineering machinery when it reaches the target tracking point;

[0035] A slewing control module, used to control the slewing speed of the engineering machinery in a closed-loop control manner according to the target slewing angle and the target slewing distance during the tracking process of the target tracking point, wherein the slewing speed at any slewing moment does not exceed the maximum speed gear set according to the target slewing distance;

[0036] The amplitude change control module is used to control the amplitude change speed of the engineering machinery through an open-loop control method according to the target working amplitude, and when the amplitude change speed is reduced to a preset speed gear, control the engineering machinery to perform the amplitude change operation in a sliding output mode.

[0037] In some embodiments, the slewing control module is specifically used to:

[0038] In the process of tracking the target tracking point, according to the target rotation angle and the real-time measured rotation angle of the engineering machinery, a first two-stage series PID controller is used to output a real-time estimated rotation speed corresponding to each tracking moment;

[0039] The speed gear at which the real-time estimated rotation speed is located is used as the first estimated speed gear corresponding to the corresponding tracking moment, and the maximum speed gear of the tracking process is set according to the target rotation distance;

[0040] The rotation speed of the construction machine is controlled according to the first estimated speed gear and the maximum speed gear at each tracking moment.

[0041] In some embodiments, the slewing control module is specifically used to:

[0042] The swing speed of the engineering machine is controlled according to the first estimated speed gear, the maximum speed gear and the target gear change rate at each tracking moment.

[0043] In some embodiments, the slewing control module is specifically used to:

[0044] When the first estimated speed gear is greater than the maximum speed gear, taking the maximum speed gear as the target speed gear at the corresponding tracking moment;

[0045] When the first estimated speed gear is less than or equal to the maximum speed gear, taking the first estimated speed gear as the target speed gear at the corresponding tracking moment;

[0046] According to the target gear change rate, the speed gear of the rotation speed of the engineering machine is controlled to increase or decrease to the target speed gear.

[0047] In some embodiments, the amplitude control module is specifically used to:

[0048] According to the target working amplitude, an S curve is output through an open-loop control method, wherein the S curve is a curve of real-time estimated amplitude change speed over time during the tracking process;

[0049] Determine the speed gear position of each real-time estimated amplitude change speed in the S curve, and obtain the second estimated speed gear position at the corresponding tracking moment;

[0050] The speed gear of the amplitude change speed of the engineering machine is switched according to the second estimated speed gear, wherein when the second estimated speed gear is reduced to a preset speed gear, the engineering machine is controlled to perform the amplitude change operation in a coasting output mode.

[0051] In some embodiments, the anti-sway control device for engineering machinery further includes a lifting control module for:

[0052] estimating a target lifting height of the engineering machinery when reaching the target tracking point;

[0053] The lifting speed of the engineering machinery is controlled by a closed-loop control method according to the target lifting height and a second two-stage series PID controller.

[0054] In some embodiments, the planned path includes a starting point, a first inflection point, a second inflection point and an end point in sequence, and the path tracking module is specifically used to:

[0055] When it is detected that the engineering machine starts to move from the starting point, the first turning point is used as a target tracking point to be switched currently;

[0056] When it is detected that the engineering machinery enters the turning area where the first turning point is located, the second turning point is used as the target tracking point to be switched currently;

[0057] When it is detected that the engineering machinery enters the turning area where the second turning point is located, the end point is used as the target tracking point that needs to be switched currently.

[0058] In a third aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements any of the above-mentioned anti-sway control methods for engineering machinery.

[0059] In a fourth aspect, the present application provides an anti-swing control system for engineering machinery, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the anti-swing control method for engineering machinery described in any one of the above items is implemented.

[0060] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned anti-sway control methods for engineering machinery.

[0061] The anti-sway control method, device, system, storage medium and computer program product of the engineering machinery provided in the embodiments of the present application determine the target tracking point to be switched from the planned path when the engineering machinery is performing a hoisting operation; estimate the target rotation angle, target rotation distance and target working range of the engineering machinery when it reaches the target tracking point; during the tracking process of the target tracking point, control the rotation speed of the engineering machinery through a closed-loop control method according to the target rotation angle and the target rotation distance, wherein the rotation speed at any rotation moment does not exceed the maximum speed gear set according to the target rotation distance; control the engineering machinery through an open-loop control method according to the target working range. The luffing speed of the engineering machinery is determined, and when the luffing speed is reduced to a preset speed gear, the engineering machinery is controlled to perform the luffing operation in the gliding output mode. That is, during the path tracking process, the rotation speed of the engineering machinery is controlled by a closed-loop control method, and the luffing speed is controlled by an open-loop control method, and the rotation speed at any rotation moment does not exceed the maximum speed gear set according to the target rotation distance. When the luffing speed is reduced to a preset speed gear, the luffing is performed without deceleration in the gliding output mode, thereby reducing the rapid acceleration and deceleration phenomenon caused by the luffing and rotation operations during the path tracking process, avoiding obvious swing caused by rapid acceleration and deceleration, achieving a better anti-swing effect, and improving operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0063] Figure 1 It is a flow chart of the anti-sway control method of engineering machinery provided in the embodiment of the present application;

[0064] Figure 2 is a side view schematic diagram of a hoisting operation area provided in an embodiment of the present application;

[0065] Figure 3 It is a schematic diagram showing a lifting control block diagram of a tower crane provided in an embodiment of the present application;

[0066] Figure 4 It is a schematic diagram showing a slewing control block diagram of a tower crane provided in an embodiment of the present application;

[0067] Figure 5It is a structural schematic diagram of a sway-eliminating control device for engineering machinery provided in an embodiment of the present application;

[0068] Figure 6 It is a structural schematic diagram of the anti-sway control system of the engineering machinery provided in the embodiment of the present application;

[0069] Figure 7 It is a schematic diagram of the hardware structure of the anti-sway control system of the engineering machinery provided in the embodiment of the present application. DETAILED DESCRIPTION

[0070] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0071] The current robot planning and control method for tower cranes usually plans the path first, then generates trajectory points with time information based on the path, and finally the actuator executes these trajectory points. However, this tower crane planning and control method cannot avoid the obvious shaking (swinging) of the tower crane load during the movement when the trajectory is tracked, and this shaking may collide with other working cranes or other objects around, causing damage to the load and even causing serious safety accidents.

[0072] In order to solve at least one of the above-mentioned technical problems, the embodiments of the present application provide a method, device, system, storage medium and computer program product for anti-sway control of engineering machinery.

[0073] See also Figure 1 , Figure 1 1 is a flow chart of a swing control method for engineering machinery provided in an embodiment of the present application. The swing control method for engineering machinery is applied to a swing control system for engineering machinery, and can be executed by a functional module or functional entity in the control system. The swing control method for engineering machinery includes the following steps 101-104, wherein:

[0074] 101. When the construction machinery is performing lifting operations, determine the target tracking point that needs to be switched from the planned path.

[0075] Among them, construction machinery is mechanical equipment with lifting function, such as tower cranes and other tower cranes. The control system can determine the planned path according to the starting and ending points of the lifting operation and the spatial area where the obstacles are located. The path planning can be carried out using a gate-shaped path, that is, the planned path is a path similar to the word "gate". For example, see Figure 2 , Figure 2It is a side view schematic diagram of the hoisting operation area provided by the embodiment of the present application. The planned path includes the starting point, the first turning point (i.e., key point 1 in the figure), the second turning point (i.e., key point 2 in the figure) and the end point in sequence. The path formed by the straight line connection of each path point is the planned path. In order to reduce the time and impact of right-angle acceleration and deceleration on the actuator in the engineering machinery, the turning radius R1 and R2 can be set, and the original right-angle turn can be replaced by an arc turn, so that the actual operation path of the engineering machinery is executed according to the dotted line path shown in the figure. Usually, R1 and R2 are equal, and can be set based on the safety distance, for example, both are equal to the safety distance.

[0076] Specifically, when the construction machinery is performing lifting operations, the control system will update the tracking points in the switching planning path in real time, and control the lifting, rotation and boom length adjustment of the construction machinery based on the tracking points. Lifting, rotation and boom length adjustment are three interrelated and collaborative movements that together determine the position and posture of the construction machinery in space, as well as its ability to carry materials. Taking the construction machinery as a tower crane as an example, lifting refers to lifting heavy objects from the ground or other locations to the required height through a lifting mechanism. Rotation refers to the use of a slewing mechanism to enable the crane boom to rotate 360° around the center of rotation of the tower crane to change the position of the hook in the working plane. Boom length adjustment refers to the ability of the boom to move in the horizontal direction, that is, the boom can rotate horizontally to change its working range in the horizontal direction.

[0077] For further information, please see Figure 2 The planned path includes a starting point, a first turning point, a second turning point and an end point in sequence. The above step of "determining the target tracking point to be switched from the planned path" specifically includes:

[0078] When it is detected that the engineering machine starts to move from the starting point, the first turning point is used as the target tracking point to be switched currently;

[0079] When it is detected that the engineering machinery enters the turning area where the first turning point is located, the second turning point is used as the target tracking point to be switched currently;

[0080] When it is detected that the engineering machine enters the turning area where the second turning point is located, the end point is used as the target tracking point that needs to be switched currently.

[0081] The turning area is a spherical area with the corresponding turning point as the center and the turning radius (such as R1, R2) as the radius. Taking the construction machinery as a tower crane as an example, when the hook of the tower crane starts to move from the starting point, the first turning point (key point 1) is used as the target tracking point for the first tracking. In the process of tracking the first turning point, the control system controls the hook of the tower crane to move from the starting point along the Figure 2The straight line path shown in moves toward the first turning point. When it reaches the position m1, it is determined to have entered the turning area where the first turning point is located. At this time, it is necessary to switch the target tracking point from the first turning point to the second turning point (key point 2) and track it. During the tracking process of the second turning point, the control system controls the tower crane hook to move from point m1 along the Figure 2 The dotted line shown in moves toward the second turning point. When it reaches the position m3, it is determined that it has entered the turning area where the second turning point is located. At this time, it is necessary to switch the target tracking point from the second turning point to the end point and track it. In the process of tracking the end point, the control system controls the tower crane hook to move from point m3 along the Figure 2 The dashed line shown in moves toward the end point.

[0082] 102. Estimate the target rotation angle, target rotation distance and target working range of the engineering machinery when it reaches the target tracking point.

[0083] When the target tracking point switches, the control system will estimate the lifting information, rotation information and arm length information of the construction machinery at that point based on the coordinate position of the latest target tracking point. For example, the lifting information includes the target lifting height, the rotation information includes the target rotation angle and the target rotation distance, and the arm length includes the target working range. The target rotation distance is calculated based on the target rotation angle and arm length.

[0084] Normally, the target lifting height is the height of the hook relative to the ground, indicating the amount of rise or fall of the hook in the vertical direction. The target rotation angle is the amount of rotation of the top structure of the tower crane (including the boom) around the vertical axis. The target rotation distance is the horizontal distance from the rotation center of the tower crane to the end point of the boom. The target working range is the working range of the boom in the horizontal direction.

[0085] After the control system estimates this information, it will subsequently perform real-time control of lifting, rotation and luffing based on the estimated information and the lifting, rotation and luffing information measured in real time by the construction machinery, so that the construction machinery can run according to the planned path. Figure 2 In the process, from the starting point to the m1 stage, and from the m4 to the end stage, only the lifting height changes, and lifting control is required; from the m1 to the m2 stage, and from the m3 to the m4 stage, the lifting height, rotation angle and working range all change, and lifting, rotation and amplitude adjustment control are required at the same time; from the m2 to the m3 stage, the lifting height does not change, and only rotation and amplitude adjustment control are required.

[0086] Furthermore, the anti-sway control method of the engineering machinery also includes:

[0087] Estimating the target lifting height of the construction machinery when reaching the target tracking point;

[0088] According to the target lifting height and the second two-stage series PID controller, the lifting speed of the engineering machinery is controlled by a closed-loop control method.

[0089] The control system can use a two-stage tandem PID controller (Proportional-Integral-Derivative Controller) to achieve closed-loop control of the lift. The PID controller mainly calculates the output based on the proportion (P), integral (I) and derivative (D) of the error signal (i.e. the difference between the set value and the measured value). Figure 3 , Figure 3 It is a schematic diagram showing the lifting control block diagram of the tower crane provided in an embodiment of the present application, wherein the two-stage series PID controller is composed of two independent PID controllers, the first-stage PID controller (i.e., PID1 in the figure) is responsible for position control, and the second-stage PID controller (i.e., PID2 in the figure) is responsible for speed control. Such a design can improve the response speed and stability of the system.

[0090] When tracking the target tracking point, the target lifting height at the target tracking point is input into the PID controller as the target position. At the same time, the actual lifting height and actual lifting speed of the tower crane are measured in real time, and the measured values ​​are also fed back to the PID controller. Based on this information, the PID controller will output the estimated lifting speed (i.e. the expected lifting speed) in real time, and the control system will determine the speed gear for each estimated lifting speed (several speed gears can be divided in advance according to the lifting capacity of the construction machinery). After that, the lifting operation is performed according to the speed gear, so that the lifting speed of the tower crane is close to the estimated lifting speed. Usually, a speed gear of 0 means that no lifting operation is required.

[0091] It is easy to understand that Figure 3 This is only an example of a lifting control block diagram. The lifting control block diagram may vary depending on different lifting systems and application scenarios, and is not limited here.

[0092] 103. During the tracking process of the target tracking point, the rotation speed of the engineering machinery is controlled by a closed-loop control method according to the target rotation angle and the target rotation distance, wherein the rotation speed at any rotation moment does not exceed the maximum speed gear set according to the target rotation distance.

[0093] Furthermore, the above step 103 may specifically include:

[0094] In the process of tracking the target tracking point, according to the target rotation angle and the real-time measured rotation angle of the engineering machinery, a first two-stage series PID controller is used to output a real-time estimated rotation speed corresponding to each tracking moment;

[0095] The speed gear at which the real-time estimated rotation speed is located is used as the first estimated speed gear corresponding to the corresponding tracking moment, and the maximum speed gear of the tracking process is set according to the target rotation distance;

[0096] The swing speed of the construction machinery is controlled according to the first estimated speed gear and the maximum speed gear at each tracking moment.

[0097] Similar to the lifting control, the swing control also uses a two-stage series PID controller to achieve closed-loop control. The lifting control and the swing control use different two-stage series PID controllers. Figure 4 , Figure 4 It is a schematic diagram showing the slewing control block diagram of the tower crane provided in an embodiment of the present application. When tracking the target tracking point, the target slewing angle at the target tracking point is input into the PID controller as the target position. At the same time, the actual slewing angle (i.e. the above-mentioned real-time measured slewing angle) and the actual slewing speed of the engineering machinery are measured in real time, and the measured values ​​are also fed back to the PID controller. Based on this information, the PID controller will output the estimated slewing speed (i.e. the above-mentioned real-time estimated slewing speed, which can be regarded as the expected slewing speed) in real time, and the control system will further determine the speed gear of each estimated slewing speed (several speed gears can be divided in advance according to the slewing capacity of the engineering machinery). Usually, a speed gear of 0 means that no slewing operation is required.

[0098] At this time, the difference from the above lifting control block diagram is that: Figure 4 The maximum gear limit is added to the swing control block diagram shown to ensure that the swing operation does not occur rapid gear changes, thereby avoiding obvious load swings caused by rapid gear changes. That is, after determining the speed gear at which the real-time estimated swing speed is located, the swing operation is not performed directly according to the speed gear, but it is first determined whether the speed gear meets the maximum gear limit, and it is necessary to ensure that the speed gear of the final swing operation does not exceed the set maximum speed gear.

[0099] Specifically, the maximum speed gear can be set according to the target rotation distance. Different maximum speed gears correspond to different target rotation distances. For example, when the target rotation distance is large, the maximum speed gear can be set larger. At the same time, it can also be set in combination with various factors such as specific work requirements (such as the weight and size of the lifting object), safety performance requirements and operating environment. For example, a larger maximum speed gear can be set for an open and flat work site compared to a narrow or complex work site.

[0100] In addition to increasing the maximum gear limit to achieve the purpose of eliminating swing, a slope control mechanism can also be introduced, that is, by limiting the gear change rate to ensure that the change in the rotation speed is gradual, avoiding the jump of the rotation speed from 0 gear directly to the maximum gear, and further improving the effect of eliminating swing. That is, the above step of "controlling the rotation speed of the construction machinery according to the first estimated speed gear and the maximum speed gear at each tracking moment" specifically includes:

[0101] The swing speed of the construction machinery is controlled according to the first estimated speed gear, the maximum speed gear and the target gear change rate at each tracking moment.

[0102] The target gear change rate is a gear increasing change rate or a gear decreasing change rate. For example, if the first estimated speed gear is higher than the speed gear of the current rotation operation, the target gear change rate is a gear increasing change rate. If the first estimated speed gear is lower than the speed gear of the current rotation operation, the target gear change rate is a gear decreasing change rate. The target gear change rate can be a preset fixed value or a dynamically changing value, such as dynamically calculating the target gear change rate by setting a fixed gear change duration.

[0103] Furthermore, the above step of “controlling the rotation speed of the construction machinery according to the first estimated speed gear and the maximum speed gear at each tracking moment” specifically includes:

[0104] When the first estimated speed gear is greater than the maximum speed gear, the maximum speed gear is used as the target speed gear at the corresponding tracking moment;

[0105] When the first estimated speed gear is less than or equal to the maximum speed gear, the first estimated speed gear is used as the target speed gear at the corresponding tracking moment;

[0106] According to the target gear change rate, the speed gear of the rotation speed of the engineering machinery is controlled to increase or decrease to the target speed gear.

[0107] Please continue to see Figure 4 After the control system determines the first estimated speed gear where the real-time estimated rotational speed is located, it will first determine whether the speed gear is not greater than the maximum speed gear. If it is greater, the maximum speed gear will be used as the target speed gear, otherwise the first estimated speed gear will be used as the target speed gear. After that, the control system will gradually switch from the current speed gear to the target speed gear according to the target gear change rate.

[0108] 104. According to the target working amplitude, the amplitude change speed of the engineering machinery is controlled by an open-loop control method, and when the amplitude change speed is reduced to a preset speed gear, the engineering machinery is controlled to perform the amplitude change operation in a sliding output mode.

[0109] In some embodiments, the above step 104 specifically includes:

[0110] According to the target working amplitude, an S curve is output through an open-loop control method, and the S curve is a curve of real-time estimated amplitude change speed over time during the tracking process;

[0111] Determine the speed gear position of each real-time estimated amplitude change speed in the S-curve, and obtain the second estimated speed gear position at the corresponding tracking moment;

[0112] The speed gear of the amplitude change speed of the engineering machine is switched according to the second estimated speed gear, wherein when the second estimated speed gear is reduced to the preset speed gear, the engineering machine is controlled to perform the amplitude change operation in the gliding output mode.

[0113] Among them, the amplitude change adopts the S curve corresponding to the amplitude change speed during the open-loop output trajectory tracking process. In this case, the amplitude change control is directly based on the S curve, and no real-time adjustment is made according to the actual position or speed. The S curve divides the amplitude change process into multiple stages (such as 7 segments), and each stage is controlled according to the preset acceleration, uniform speed and deceleration parameters. The S curve can provide smooth acceleration and deceleration, reduce impact force and swing, and improve the stability of operation.

[0114] The gliding output mode in the luffing operation mainly refers to maintaining a stable luffing speed. In this mode, the power output to the luffing mechanism can be considered unchanged. The preset speed gear can be set to 1st gear, that is, when the speed gear determined based on the S curve is reduced to 1st gear, it will no longer continue to decelerate according to the decreasing luffing speed in the S curve, but will continue to provide the luffing mechanism with 1st gear power, so that it uses the 1st gear gliding output mode for positioning, until the switching time of the next target tracking point is reached, and 0 power is directly output to the luffing mechanism, so that the luffing can achieve the acceleration and deceleration performance of a smooth trajectory, so that the output can achieve the effect of eliminating swing.

[0115] As can be seen from the above, the anti-sway control method for engineering machinery provided in the embodiment of the present application determines the target tracking point that needs to be switched from the planned path when the engineering machinery is performing a hoisting operation; estimates the target rotation angle, target rotation distance and target working amplitude of the engineering machinery when it reaches the target tracking point; during the tracking process of the target tracking point, controls the rotation speed of the engineering machinery through a closed-loop control method according to the target rotation angle and the target rotation distance, wherein the rotation speed at any rotation moment does not exceed the maximum speed gear set according to the target rotation distance; controls the amplitude change speed of the engineering machinery through an open-loop control method according to the target working amplitude, And when the amplitude change speed is reduced to a preset speed gear, the engineering machinery is controlled to perform the amplitude change operation in the gliding output mode, that is, during the path tracking process, the rotation speed of the engineering machinery is controlled by a closed-loop control method, and the amplitude change speed is controlled by an open-loop control method, and the rotation speed at any rotation moment does not exceed the maximum speed gear set according to the target rotation distance; and when the amplitude change speed is reduced to a preset speed gear, the amplitude change is performed without deceleration in the gliding output mode, thereby reducing the rapid acceleration and deceleration phenomenon caused by the amplitude change and rotation operations during the path tracking process, avoiding obvious swinging due to rapid acceleration and deceleration, achieving a better anti-swing effect, and improving operation safety.

[0116] Furthermore, by introducing the gear change rate when switching the gear of the slewing speed, the gear is switched incrementally or incrementally based on the gear change rate, so as to ensure that the change of the slewing speed is gradual, avoid the slewing speed from 0 gear directly to the highest gear, and further improve the anti-swing effect. Furthermore, by setting the turning radius in the planned path, the right-angle turn is changed into an arc turn, so as to avoid the time-consuming caused by right-angle acceleration and deceleration, and improve the operation efficiency.

[0117] According to the method described in the above embodiment, the present application embodiment also provides a sway control device for engineering machinery, which is used to execute the steps in the sway control method for engineering machinery. Figure 5 , Figure 5 2 is a schematic diagram of the structure of the anti-sway control device 200 for engineering machinery provided in an embodiment of the present application. The anti-sway control device 200 for engineering machinery is applied to the anti-sway control system of engineering machinery, and the anti-sway control method of the engineering machinery can be executed by the electronic equipment in the control system or the functional module or functional entity in the electronic equipment. Specifically, the anti-sway control device 200 for engineering machinery includes a path tracking module 201, an estimation module 202, a slewing control module 203 and an amplitude control module 204, wherein:

[0118] The path tracking module 201 is used to determine the target tracking point to be switched from the planned path when the engineering machinery is performing a hoisting operation;

[0119] An estimation module 202 is used to estimate the target rotation angle, target rotation distance and target working range of the engineering machinery when reaching the target tracking point;

[0120] The slewing control module 203 is used to control the slewing speed of the engineering machine in a closed-loop control manner according to the target slewing angle and the target slewing distance during the tracking process of the target tracking point, wherein the slewing speed at any slewing moment does not exceed the maximum speed gear set according to the target slewing distance;

[0121] The amplitude control module 204 is used to control the amplitude speed of the engineering machine through an open-loop control method according to the target working amplitude, and when the amplitude speed is reduced to a preset speed gear, control the engineering machine to perform the amplitude operation in a sliding output mode.

[0122] In some embodiments, the rotation control module 203 is specifically used to:

[0123] In the process of tracking the target tracking point, according to the target rotation angle and the real-time measured rotation angle of the engineering machinery, a first two-stage series PID controller is used to output a real-time estimated rotation speed corresponding to each tracking moment;

[0124] The speed gear at which the real-time estimated rotation speed is located is used as the first estimated speed gear corresponding to the corresponding tracking moment, and the maximum speed gear of the tracking process is set according to the target rotation distance;

[0125] The rotation speed of the construction machinery is controlled according to the first estimated speed gear and the maximum speed gear at each tracking moment.

[0126] In some embodiments, the rotation control module 203 is specifically used to:

[0127] The swing speed of the construction machinery is controlled according to the first estimated speed gear, the maximum speed gear and the target gear change rate at each tracking moment.

[0128] In some embodiments, the rotation control module 203 is specifically used to:

[0129] When the first estimated speed gear is greater than the maximum speed gear, the maximum speed gear is used as the target speed gear at the corresponding tracking moment;

[0130] When the first estimated speed gear is less than or equal to the maximum speed gear, the first estimated speed gear is used as the target speed gear at the corresponding tracking moment;

[0131] According to the target gear change rate, the speed gear of the rotation speed of the engineering machinery is controlled to increase or decrease to the target speed gear.

[0132] In some embodiments, the amplitude control module 204 is specifically used to:

[0133] According to the target working amplitude, an S curve is output through an open-loop control method, and the S curve is a curve of real-time estimated amplitude change speed over time during the tracking process;

[0134] Determine the speed gear position of each real-time estimated amplitude change speed in the S-curve, and obtain the second estimated speed gear position at the corresponding tracking moment;

[0135] The speed gear of the amplitude change speed of the engineering machine is switched according to the second estimated speed gear, wherein when the second estimated speed gear is reduced to the preset speed gear, the engineering machine is controlled to perform the amplitude change operation in the gliding output mode.

[0136] In some embodiments, the anti-sway control device 200 of the engineering machinery further includes a lifting control module for:

[0137] estimating a target lifting height of the construction machinery when reaching the target tracking point;

[0138] According to the target lifting height and the second two-stage series PID controller, the lifting speed of the engineering machinery is controlled by a closed-loop control method.

[0139] In some embodiments, the planned path includes a starting point, a first inflection point, a second inflection point and an end point in sequence, and the path tracking module is specifically used to:

[0140] When it is detected that the engineering machinery starts to move from the starting point, the first turning point is used as the target tracking point to be switched currently;

[0141] When it is detected that the engineering machinery enters the turning area where the first turning point is located, the second turning point is used as the target tracking point to be switched currently;

[0142] When it is detected that the engineering machine enters the turning area where the second turning point is located, the end point is used as the target tracking point that needs to be switched currently.

[0143] It should be noted that the specific details of each module unit in the above-mentioned anti-swing control device 200 for engineering machinery have been described in detail in the embodiment of the above-mentioned anti-swing control method for engineering machinery, and will not be repeated here.

[0144] As can be seen from the above, the anti-sway control device 200 for engineering machinery provided in the embodiment of the present application, when the engineering machinery is performing a hoisting operation, the path tracking module 201 determines the target tracking point that needs to be switched from the planned path; the estimation module 202 estimates the target rotation angle, target rotation distance and target working range of the engineering machinery when it reaches the target tracking point; the rotation control module 203 controls the rotation speed of the engineering machinery in a closed-loop control manner according to the target rotation angle and the target rotation distance during the tracking process of the target tracking point, wherein the rotation speed at any rotation moment does not exceed the maximum speed gear set according to the target rotation distance; the amplitude control module 204 controls the rotation speed of the engineering machinery according to the target working range through a closed-loop control method. The boom speed of the engineering machinery is controlled in an open-loop control manner, and when the boom speed is reduced to a preset speed gear, the engineering machinery is controlled to perform the boom operation in a gliding output mode, that is, during the path tracking process, the rotation speed of the engineering machinery is controlled by a closed-loop control method, and the boom speed is controlled by an open-loop control method, and the rotation speed at any rotation moment does not exceed the maximum speed gear set according to the target rotation distance, and when the boom speed is reduced to a preset speed gear, the boom is changed without deceleration in a gliding output mode, thereby reducing the rapid acceleration and deceleration phenomenon caused by the boom and rotation operations during the path tracking process, avoiding obvious swinging due to rapid acceleration and deceleration, achieving a better anti-swing effect, and improving operation safety.

[0145] In some embodiments, Figure 6 As shown, the embodiment of the present application also provides an anti-swing control system 300 for engineering machinery, including a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the program is executed by the processor 301, each process of the anti-swing control method embodiment of the above-mentioned engineering machinery is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0146] Figure 7 A schematic diagram of the hardware structure of an anti-sway control system for engineering machinery to implement an embodiment of the present application.

[0147] The anti-sway control system 400 of the engineering machinery includes but is not limited to: a radio frequency unit 401, a network module 402, an audio output unit 403, an input unit 404, a sensor 405, a display unit 406, a user input unit 407, an interface unit 408, a memory 409 and a processor 410 and other components.

[0148] In some embodiments, the processor 410 implements the following steps when executing the program:

[0149] When the construction machinery is performing hoisting operations, the target tracking point to be switched is determined from the planned path;

[0150] estimating the target rotation angle, target rotation distance and target working range of the construction machinery when reaching the target tracking point;

[0151] During the tracking process of the target tracking point, the rotation speed of the engineering machinery is controlled by a closed-loop control method according to the target rotation angle and the target rotation distance, wherein the rotation speed at any rotation time does not exceed the maximum speed gear set according to the target rotation distance;

[0152] According to the target working amplitude, the amplitude change speed of the engineering machine is controlled by an open-loop control method, and when the amplitude change speed is reduced to a preset speed gear, the engineering machine is controlled to perform the amplitude change operation in a sliding output mode.

[0153] In some embodiments, the processor 410 implements the following steps when executing the program:

[0154] In the process of tracking the target tracking point, according to the target rotation angle and the real-time measured rotation angle of the engineering machinery, a first two-stage series PID controller is used to output a real-time estimated rotation speed corresponding to each tracking moment;

[0155] The speed gear at which the real-time estimated rotation speed is located is used as the first estimated speed gear corresponding to the corresponding tracking moment, and the maximum speed gear of the tracking process is set according to the target rotation distance;

[0156] The rotation speed of the construction machinery is controlled according to the first estimated speed gear and the maximum speed gear at each tracking moment.

[0157] In some embodiments, the processor 410 implements the following steps when executing the program:

[0158] The swing speed of the construction machinery is controlled according to the first estimated speed gear, the maximum speed gear and the target gear change rate at each tracking moment.

[0159] In some embodiments, the processor 410 implements the following steps when executing the program:

[0160] When the first estimated speed gear is greater than the maximum speed gear, the maximum speed gear is used as the target speed gear at the corresponding tracking moment;

[0161] When the first estimated speed gear is less than or equal to the maximum speed gear, the first estimated speed gear is used as the target speed gear at the corresponding tracking moment;

[0162] According to the target gear change rate, the speed gear of the rotation speed of the engineering machinery is controlled to increase or decrease to the target speed gear.

[0163] In some embodiments, the processor 410 implements the following steps when executing the program:

[0164] According to the target working amplitude, an S curve is output through an open-loop control method, and the S curve is a curve of real-time estimated amplitude change speed over time during the tracking process;

[0165] Determine the speed gear position of each real-time estimated amplitude change speed in the S-curve, and obtain the second estimated speed gear position at the corresponding tracking moment;

[0166] The speed gear of the amplitude change speed of the engineering machine is switched according to the second estimated speed gear, wherein when the second estimated speed gear is reduced to the preset speed gear, the engineering machine is controlled to perform the amplitude change operation in the gliding output mode.

[0167] In some embodiments, the processor 410 further implements the following steps when executing the program:

[0168] estimating a target lifting height of the construction machinery when reaching the target tracking point;

[0169] According to the target lifting height and the second two-stage series PID controller, the lifting speed of the engineering machinery is controlled by a closed-loop control method.

[0170] In some embodiments, the planned path includes a starting point, a first inflection point, a second inflection point, and an end point in sequence. When the processor 410 executes the program, the following steps are implemented:

[0171] When it is detected that the engineering machinery starts to move from the starting point, the first turning point is used as the target tracking point to be switched currently;

[0172] When it is detected that the engineering machinery enters the turning area where the first turning point is located, the second turning point is used as the target tracking point to be switched currently;

[0173] When it is detected that the engineering machine enters the turning area where the second turning point is located, the end point is used as the target tracking point that needs to be switched currently.

[0174] Those skilled in the art will appreciate that the control system 400 may also include a power source (such as a battery) for supplying power to each component, and the power source may be logically connected to the processor 410 through a power management system, thereby implementing functions such as managing charging, discharging, and power consumption management through the power management system. Figure 7 The control system structure shown in the figure does not constitute a limitation on the control system. The control system may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components, which will not be described in detail here.

[0175] It should be understood that in the embodiment of the present application, the input unit 404 may include a graphics processor (Graphics Processing Unit, GPU) 4041 and a microphone 4042, and the graphics processor 4041 processes the image data of the static picture or video obtained by the image capture device (such as a camera) in the video capture mode or the image capture mode. The display unit 406 may include a display panel 4061, and the display panel 4061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 407 includes a touch panel 4071 and at least one of other input devices 4072. The touch panel 4071 is also called a touch screen. The touch panel 4071 may include two parts: a touch detection device and a touch controller. Other input devices 4072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0176] The memory 409 can be used to store software programs and various data. The memory 409 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, an image playback function, etc.), etc. In addition, the memory 409 may include a volatile memory or a non-volatile memory, or the memory 409 may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDRSDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synchronous link dynamic random access memory (SLDRAM) and a direct memory bus random access memory (DRRAM). The memory 409 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0177] The processor 410 may include one or more processing units; the processor 410 integrates an application processor and a modem processor, wherein the application processor mainly processes operations related to an operating system, a user interface, and application programs, and the modem processor mainly processes wireless communication signals, such as a baseband processor. It is understandable that the modem processor may not be integrated into the processor 410.

[0178] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned anti-sway control method embodiment of the engineering machinery are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0179] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0180] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned anti-sway control method for engineering machinery when executed by a processor.

[0181] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0182] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0183] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0184] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0185] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0186] In the description of the present application, “plurality” means two or more.

[0187] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0188] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A method for controlling the sway of an engineering machine, characterized in that: include: When the construction machinery is performing hoisting operations, the target tracking point to be switched is determined from the planned path; estimating a target rotation angle, a target rotation distance, and a target working range of the engineering machinery when it reaches the target tracking point; During the tracking process of the target tracking point, the rotation speed of the engineering machinery is controlled by a closed-loop control method according to the target rotation angle and the target rotation distance, wherein the rotation speed at any rotation time does not exceed the maximum speed gear set according to the target rotation distance; According to the target working amplitude, the amplitude change speed of the engineering machinery is controlled by an open-loop control method, and when the amplitude change speed is reduced to a preset speed gear, the engineering machinery is controlled to perform the amplitude change operation in a sliding output mode.

2. The anti-sway control method for engineering machinery according to claim 1, characterized in that: The controlling the rotation speed of the engineering machine by a closed-loop control method according to the target rotation angle and the target rotation distance includes: In the process of tracking the target tracking point, according to the target rotation angle and the real-time measured rotation angle of the engineering machinery, a first two-stage series PID controller is used to output a real-time estimated rotation speed corresponding to each tracking moment; The speed gear at which the real-time estimated rotation speed is located is used as the first estimated speed gear corresponding to the corresponding tracking moment, and the maximum speed gear of the tracking process is set according to the target rotation distance; The rotation speed of the construction machine is controlled according to the first estimated speed gear and the maximum speed gear at each tracking moment.

3. The anti-sway control method for engineering machinery according to claim 2, characterized in that: The controlling of the rotation speed of the engineering machine according to the first estimated speed gear and the maximum speed gear at each tracking moment includes: The swing speed of the engineering machine is controlled according to the first estimated speed gear, the maximum speed gear and the target gear change rate at each tracking moment.

4. The anti-sway control method for engineering machinery according to claim 3, characterized in that: The controlling of the rotation speed of the engineering machinery according to the first estimated speed gear, the maximum speed gear and the target gear change rate at each tracking moment includes: When the first estimated speed gear is greater than the maximum speed gear, taking the maximum speed gear as the target speed gear at the corresponding tracking moment; When the first estimated speed gear is less than or equal to the maximum speed gear, taking the first estimated speed gear as the target speed gear at the corresponding tracking moment; According to the target gear change rate, the speed gear of the rotation speed of the engineering machine is controlled to increase or decrease to the target speed gear.

5. The anti-sway control method for engineering machinery according to claim 1, characterized in that: The step of controlling the variable amplitude speed of the engineering machinery by an open-loop control method according to the target working amplitude includes: According to the target working amplitude, an S curve is output through an open-loop control method, wherein the S curve is a curve of real-time estimated amplitude change speed over time during the tracking process; Determine the speed gear position of each real-time estimated amplitude change speed in the S curve, and obtain the second estimated speed gear position at the corresponding tracking moment; The speed gear of the amplitude change speed of the engineering machine is switched according to the second estimated speed gear, wherein when the second estimated speed gear is reduced to a preset speed gear, the engineering machine is controlled to perform the amplitude change operation in a coasting output mode.

6. The anti-sway control method for engineering machinery according to claim 1, characterized in that: Also includes: estimating a target lifting height of the engineering machinery when reaching the target tracking point; The lifting speed of the engineering machinery is controlled by a closed-loop control method according to the target lifting height and a second two-stage series PID controller.

7. The anti-sway control method for engineering machinery according to any one of claims 1 to 6, characterized in that: The planned path includes a starting point, a first inflection point, a second inflection point and an end point in sequence, and determining the target tracking point to be switched from the planned path includes: When it is detected that the engineering machine starts to move from the starting point, the first turning point is used as a target tracking point to be switched currently; When it is detected that the engineering machinery enters the turning area where the first turning point is located, the second turning point is used as the target tracking point to be switched currently; When it is detected that the engineering machinery enters the turning area where the second turning point is located, the end point is used as the target tracking point that needs to be switched currently.

8. A swing control device for engineering machinery, characterized in that: include: The path tracking module is used to determine the target tracking point to be switched from the planned path when the construction machinery is performing hoisting operations; An estimation module, used for estimating a target rotation angle, a target rotation distance and a target working range of the engineering machinery when it reaches the target tracking point; A slewing control module, used to control the slewing speed of the engineering machinery in a closed-loop control manner according to the target slewing angle and the target slewing distance during the tracking process of the target tracking point, wherein the slewing speed at any slewing moment does not exceed the maximum speed gear set according to the target slewing distance; The amplitude change control module is used to control the amplitude change speed of the engineering machinery through an open-loop control method according to the target working amplitude, and when the amplitude change speed is reduced to a preset speed gear, control the engineering machinery to perform the amplitude change operation in a sliding output mode.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the anti-sway control method for engineering machinery according to any one of claims 1 to 7 is implemented.

10. An anti-sway control system for engineering machinery, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the anti-sway control method for engineering machinery according to any one of claims 1 to 7 is implemented.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the anti-sway control method for engineering machinery according to any one of claims 1 to 7 is implemented.

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