Swing control method, device and equipment of slewing system and readable storage medium

Abstract

The application provides a swing control method, device and equipment of a rotary system and a readable storage medium, the rotary system comprises a rotary mechanism and a motor for driving the rotary mechanism to swing, the motor can receive a frequency instruction of a frequency converter, the swing control method of the rotary mechanism comprises the following steps: establishing a wave-trap filter vibration suppression model based on an oscillation frequency of the rotary system; processing an output frequency of the frequency converter through the wave-trap filter vibration suppression model to obtain an actual output frequency; and the motor controls an output angular velocity of the rotary mechanism according to the received actual output frequency. The swing control method, device and equipment of the rotary system and the readable storage medium can solve the problem that the swing of the rotary mechanism cannot be accurately controlled.

Description

Technical Field

[0001] This invention relates to the field of anti-sway control technology, and in particular to a sway control method, device, equipment, and readable storage medium for a sway system. Background Technology

[0002] The description in this section provides only background information related to the disclosure of this invention and does not constitute prior art.

[0003] When the slewing mechanism of a tower crane is driven by a frequency converter, it will swing back after stopping without an eddy current brake.

[0004] Tower crane manufacturers used eddy current brakes in the past to solve the swaying problem of the slewing mechanism. However, because the eddy current brake occupies a certain amount of space and the braking damping force it provides is inversely proportional to the speed of the slewing mechanism driven by the motor, it cannot accurately control the swaying action of the slewing mechanism.

[0005] It should be noted that the above description of the technical background is only for the purpose of providing a clear and complete explanation of the technical solutions of the present invention and facilitating understanding by those skilled in the art. It should not be assumed that the above technical solutions are known to those skilled in the art simply because they have been described in the background section of this invention. Summary of the Invention

[0006] This invention provides a method, apparatus, device, and readable storage medium for controlling the sway of a rotary system, solving the problem of inaccurate control of the sway of a rotary mechanism.

[0007] To achieve the above objectives, the present invention provides the following technical solution.

[0008] This invention provides a swing control method for a slewing system. The slewing system includes a slewing mechanism and a motor for driving the slewing mechanism to swing. The motor can receive frequency commands from a frequency converter. The swing control method for the slewing mechanism includes:

[0009] Based on the oscillation frequency of the rotary system, a notch filter vibration suppression model is established.

[0010] The output frequency of the frequency converter is processed by the notch filter vibration suppression model to obtain the actual output frequency;

[0011] The motor controls the output angular velocity of the rotary mechanism based on the received actual output frequency.

[0012] According to one embodiment of the present invention, the notch filter vibration suppression model is determined by the center frequency, damping coefficient, depth, and high response coefficient.

[0013] According to one embodiment of the present invention, the output frequency of the frequency converter includes a jogging acceleration frequency, a jogging deceleration frequency, and a normal frequency.

[0014] According to one embodiment of the present invention, when the output frequency of the frequency converter is the jogging acceleration frequency, the center frequency of the notch filter vibration suppression model is the jogging center frequency, and the high response coefficient of the notch filter vibration suppression model is the jogging high response coefficient.

[0015] According to one embodiment of the present invention, when the output frequency of the frequency converter is the jogging deceleration frequency, the center frequency of the notch filter vibration suppression model is the jogging center frequency, and the high response coefficient of the notch filter vibration suppression model is 1.

[0016] According to one embodiment of the present invention, when the output frequency of the frequency converter is at the normal frequency, the center frequency of the notch filter vibration suppression model is the commonly used center frequency, and the high response coefficient of the notch filter vibration suppression model is the commonly used high response coefficient.

[0017] According to one embodiment of the present invention, the notch filter vibration suppression model is as follows:

[0018]

[0019] Where ω is the center frequency; a is the damping coefficient; r is the depth; and b is the high response coefficient.

[0020] The present invention also provides a swing control device for a slewing system, the slewing system including a slewing mechanism and a motor for driving the slewing mechanism to swing, the motor being capable of receiving frequency commands from a frequency converter, characterized in that the swing control device for the slewing mechanism includes:

[0021] The model unit establishes a notch filter vibration suppression model based on the oscillation frequency of the rotary system;

[0022] The output unit processes the output frequency of the inverter through the notch filter vibration suppression model to obtain the actual output frequency;

[0023] The control unit controls the output angular velocity of the rotary mechanism based on the received actual output frequency.

[0024] The present invention also provides a swing control device for a slewing mechanism, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the swing control method of the slewing system as described above.

[0025] The present invention also provides a computer-readable storage medium storing a computer program that performs the slewing control method of the slewing system as described above.

[0026] Specific embodiments of the invention are disclosed in detail with reference to the following description and accompanying drawings, indicating how the principles of the invention can be employed. It should be understood that the embodiments of the invention are not therefore limited in scope. Within the spirit and scope of the appended claims, the embodiments of the invention include many changes, modifications, and equivalents.

[0027] Features described and / or illustrated for one embodiment may be used in the same or similar manner in one or more other embodiments, combined with features in other embodiments, or substituted for features in other embodiments.

[0028] It should be emphasized that the term "including / comprises" as used herein refers to the presence of a feature, whole, step, or component, but does not exclude the presence or addition of one or more other features, wholes, steps, or components. Attached Figure Description

[0029] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Furthermore, the shapes and proportions of the components in the drawings are merely illustrative to aid in understanding the invention and are not intended to specifically limit the shapes and proportions of the components. Those skilled in the art, guided by the teachings of this invention, can select various possible shapes and proportions to implement the invention according to specific circumstances. In the drawings:

[0030] Figure 1 This is a schematic diagram of the slewing mechanism of a slewing system in the states of starting, accelerating, constant speed, deceleration, and stopping.

[0031] Figure 2 This is a time-domain curve showing the change in the angular velocity of the slewing mechanism of the slewing system when the frequency command of the inverter is a ramp acceleration / deceleration.

[0032] Figure 3 This is a control flow diagram of the swing control device of the present invention.

[0033] Figure 4 This is a time-domain variation curve of the angular velocity of the slewing mechanism of the slewing system after applying a notch filter vibration suppression model to the output frequency of the frequency converter according to the present invention.

[0034] Figure 5 This is a comparison of the time-domain variation curves after applying ordinary notch filtering to the output frequency of the frequency converter and after applying the notch filtering vibration suppression model of this invention.

[0035] Figure 6This is a block diagram of the slewing control device of the slewing system of the present invention.

[0036] Figure 7 This is a graph showing the input and output frequencies of the notch filter vibration suppression model after additional processing during the commutation of the slewing mechanism of the slewing system of the present invention.

[0037] Figure labels and descriptions:

[0038] 1. Rotary mechanism; 11. Rotating end; 12. Free end; 2. Motor; 101. Model unit; 102. Output unit; 103. Control unit. Detailed Implementation

[0039] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0040] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0042] The slewing mechanism 1 of a tower crane will be used as an example for explanation. Figure 1 As shown, the rotary mechanism 1 is driven and controlled by the motor 2. The rotary mechanism 1 has a rotating end 11 and a free end 12. The output shaft of the motor 2 is connected to the rotating end 11 of the rotary mechanism 1 and can drive the rotary mechanism 1 to rotate.

[0043] The slewing mechanism 1 of the tower crane, driven by motor 2, moves from... Figure 1 The tower crane starts from the initial state shown in Figure a (at which point the slewing mechanism 1 is stationary). During the initial startup phase, the slewing mechanism 1 will experience... Figure 1 As shown in Figure b, in the acceleration state, the slewing mechanism 1 of the tower crane is swinging backward. After a period of operation, the slewing mechanism 1 reaches a stable operating state. (See Figure b for details.) Figure 1 The normal operating state shown in Figure c indicates that the slewing mechanism 1 does not exhibit any swinging behavior. When the motor 2 drives the slewing mechanism 1 of the tower crane to stop, the slewing mechanism 1 will experience [a certain process] during the stopping process. Figure 1 The deceleration state shown in Figure d indicates that the rotary mechanism 1 is in a forward swinging state, and finally stops after a period of time. Figure 1 The stopped state is shown in the middle (e).

[0044] Please refer to the following: Figure 2 As shown, when the speed of the motor is directly controlled by the frequency converter, when the output frequency command of the frequency converter is ramp acceleration and ramp deceleration, the output angular velocity of the slewing mechanism 1 of the slewing system exhibits underdamped characteristics in the time domain. This is mainly manifested in the slewing mechanism 1 of the tower crane exhibiting a swing phenomenon at the initial stage of startup and after stopping.

[0045] To solve the swaying problem of the slewing mechanism 1 of the tower crane, the inventor performed notch filtering on the output frequency command of the frequency converter. After the processed frequency converter output frequency command is transmitted to the motor 2, the swaying problem of the slewing mechanism 1 can be effectively controlled.

[0046] Implementation Method 1

[0047] Please refer to the following: Figure 3 As shown, the present invention provides a swing control method for a slewing system. The slewing system includes a slewing mechanism 1 and a motor 2 for driving the slewing mechanism 1 to swing. The motor 2 can receive frequency commands from a frequency converter. The swing control method for the slewing mechanism includes:

[0048] Based on the oscillation frequency of the rotary system, a notch filter vibration suppression model is established.

[0049] The output frequency of the frequency converter is processed by the notch filter vibration suppression model to obtain the actual output frequency;

[0050] The motor 2 controls the output angular velocity of the rotary mechanism 1 based on the received actual output frequency.

[0051] The slewing control method of the slewing system of the present invention adopts a notch filter vibration suppression model between the frequency converter and the motor 2 of the slewing system to change the control characteristics of the slewing system, that is, to reduce the overshoot and settling time of the slewing system, or to make it an overdamped system, so that the final output of the slewing system will not vibrate during stopping and running, or to suppress vibration to a certain extent.

[0052] Please refer to the following: Figure 4 As shown, after introducing a notch filter vibration suppression model into the rotary system of the present invention to change the system characteristics, when the frequency command of the frequency converter is ramp acceleration and ramp deceleration, the frequency command processed by the notch filter vibration suppression model is received by the motor 2 and changes the output speed of the motor, thereby controlling the rotary mechanism 1. When the center frequency of the notch filter vibration suppression model is adopted as the damping oscillation frequency of the overshoot part of the rotary system, the output angular velocity of the rotary mechanism 1 oscillates less when it stops.

[0053] Specifically, the oscillation frequency of the slewing system is the oscillation frequency of the swing damping of the slewing mechanism 1, which can be obtained by external detection equipment.

[0054] In this invention, the notch filter vibration suppression model is determined based on the center frequency, damping coefficient, depth, and high response coefficient. The center frequency of the notch filter vibration suppression model is the oscillation frequency of the rotating system; simultaneously, to avoid center frequency deviation and undesirable swaying of the rotating system, the depth of the notch filter vibration suppression model is set to 0.

[0055] Specifically, in this embodiment, the notch filter vibration suppression model is as follows:

[0056]

[0057] Where ω is the center frequency, in Hertz (Hz); a is the damping coefficient; r is the depth; b is the high response coefficient; and s is the Laplace operator.

[0058] The inventors discovered that the slewing system exhibits different oscillation frequencies under different inverter frequency commands. Therefore, the notch filter vibration suppression model cannot meet the actual mechanical needs of customers by using the same set of parameters under different frequency commands.

[0059] Therefore, in this invention, the output frequency of the frequency converter is divided into jogging acceleration frequency, jogging deceleration frequency, and normal frequency. By using different parameters of the notch filter vibration suppression model under different states, it can be ensured that the slewing mechanism 1 will not swing back under different states.

[0060] Specifically, in a feasible embodiment of the present invention, when the output frequency of the frequency converter is the jogging acceleration frequency, the center frequency of the notch filter vibration suppression model is the jogging center frequency, the high response coefficient of the notch filter vibration suppression model is the jogging high response coefficient, the damping coefficient of the notch filter vibration suppression model is the jogging damping coefficient, and the depth of the notch filter vibration suppression model is 0.

[0061] Specifically, the jogging action of the tower crane operator when operating the slewing mechanism 1 is defined as the slewing system being in a jogging state. This jogging action is specifically the operator operating the control lever of the slewing mechanism 1 at a relatively fast speed, with the purpose of jogging to make the slewing mechanism 1 rotate only a small angle.

[0062] In this embodiment, the center frequency for jogging can be obtained by the driver through an external detection device when performing jogging operation; the high response coefficient and damping coefficient for jogging can be obtained through debugging, that is, by debugging the damping coefficient and high response coefficient for jogging, and observing the starting response time and the swing frequency after stopping of the rotary mechanism 1, the optimal high response coefficient and damping coefficient for jogging can be determined.

[0063] This inching acceleration state refers to the acceleration process after the "start" command is given in the inching state. At this time, the rotary mechanism 1 changes from a stationary state to a moving state. The operator has high requirements for the responsiveness of the rotary mechanism 1 at this time (the time from when the handle is engaged to when the rotary mechanism 1 starts to move).

[0064] In another feasible embodiment of the present invention, when the output frequency of the frequency converter is the jogging deceleration frequency, the center frequency of the notch filter vibration suppression model is the jogging center frequency, the high response coefficient of the notch filter vibration suppression model is 1, the damping coefficient of the notch filter vibration suppression model is the jogging damping coefficient, and the depth of the notch filter vibration suppression model is 0.

[0065] In this embodiment, the center frequency for jogging can be obtained by the driver through an external detection device when performing jogging operation. The damping coefficient for jogging can be obtained through adjustment, that is, by adjusting the damping coefficient for jogging and observing the starting response time and the swing frequency after stopping of the rotary mechanism 1, the optimal damping coefficient for jogging can be determined.

[0066] Specifically, this inching deceleration state refers to the deceleration process after the "off" command is given in the inching state. In actual testing, if a high response coefficient is used at this time, it will cause the rotary mechanism 1 to swing back when it stops. Therefore, the high response coefficient is designed to be 1 in this state (the same as ordinary notch filtering).

[0067] In another feasible embodiment of the present invention, when the output frequency of the inverter is the normal frequency, the center frequency of the notch filter vibration suppression model is the commonly used center frequency, the high response coefficient of the notch filter vibration suppression model is the commonly used high response coefficient, the damping coefficient of the notch filter vibration suppression model is the commonly used damping coefficient, and the depth of the notch filter vibration suppression model is 0.

[0068] In this embodiment, the commonly used center frequency is obtained by the driver when performing a jog operation through an external detection device; the high response coefficient and the damping coefficient for jog operation can be obtained through debugging, that is, by debugging the damping coefficient and the high response coefficient for jog operation, and observing the starting response time and the swing frequency after stopping the rotary mechanism 1, the optimal high response coefficient and the damping coefficient for jog operation can be determined.

[0069] Specifically, the parameters used in the notch filter vibration suppression model in this embodiment are the parameters for all uniform running states except for the jogging state.

[0070] In one specific embodiment of the present invention, such as Figure 5 As shown in the figure, when the center frequency ω of the notch filter vibration suppression model is 0.075Hz, the damping coefficient a is 1.2, the depth r is 0, and the high response coefficient b is 1 / 1.2, it can be seen from the figure that the notch filter vibration suppression model of the present invention has better response performance than the ordinary notch filter treatment when the output frequency of the frequency converter is a ramp. Moreover, it can effectively suppress the swing of the slewing mechanism 1 in the customer's field verification.

[0071] According to one embodiment of the present invention, when the driver needs to switch the rotation direction of the slewing mechanism 1 from one direction to another, he will directly operate the handle to shift gears in the opposite direction. At this time, the operating signal of the frequency converter will be reversed, and the output frequency command of the frequency converter will accelerate in the other direction, such as... Figure 7 As shown. In this case, the frequency command input to the notch filter vibration suppression model will directly change to a frequency command in the other direction. At this time, the output of the notch filter vibration suppression model will cross zero relatively quickly (the process of the rotary mechanism 1 decelerating to zero in one direction and then accelerating in the other direction). When crossing zero, due to insufficient output torque of motor 2, the rotary mechanism 1 will suddenly lose torque and vibrate during rapid movement. To avoid this situation, the inventors applied the following notch filter processing to the output frequency of the frequency converter.

[0072] In a feasible implementation, when the rotary mechanism 1 reverses direction, after the absolute value of the frequency input to the notch filter vibration suppression model decreases to 0, this frequency is fixed at 0, and acceleration in the other direction is no longer performed. That is, the output frequency of the notch filter vibration suppression model remains unchanged while the input frequency is at 0. This method solves the problem of vibration occurring when the rotary mechanism 1 crosses zero during reversal, ensuring that the output of the notch filter vibration suppression model during reversal is the same as when the rotary mechanism 1 decelerates normally.

[0073] In another feasible implementation, when the slewing mechanism 1 reverses direction, once the output frequency of the notch filter vibration suppression model decreases below a certain frequency, for example, when this frequency decreases to about 5% of the motor's rated frequency, the output of the notch filter vibration suppression model is set to 0. By limiting the input of the notch filter vibration suppression model during reversal in this way, the deceleration of the slewing mechanism 1 during reversal will decrease (the difference between the input and output of the notch filter vibration suppression model becomes smaller compared to before the limitation). To improve this problem, the design is to cut off the output in this direction and directly begin acceleration in the next direction once the output of the notch filter vibration suppression model decreases below a certain frequency (that is, after the speed of the slewing mechanism 1 decreases to a certain level), for example, when this frequency decreases to about 5% of the motor's rated frequency.

[0074] Implementation Method 2

[0075] like Figures 1 to 6 As shown, the present invention also provides a swing control device for a slewing system. The slewing system includes a slewing mechanism 1 and a motor 2 for driving the slewing mechanism 1 to swing. The motor 2 can receive frequency commands from a frequency converter. The swing control device for the slewing system includes:

[0076] Model unit 101 establishes a notch filter vibration suppression model based on the oscillation frequency of the rotary system;

[0077] Output unit 102 processes the output frequency of the frequency converter through the notch filter vibration suppression model to obtain the actual output frequency;

[0078] Control unit 103, the motor controls the output angular velocity of the rotary mechanism according to the received actual output frequency.

[0079] The slewing control device of the present invention uses a notch filter vibration suppression model added between the frequency converter and the motor of the slewing system to change the control characteristics of the slewing system, reduce the overshoot and settling time of the slewing system, or turn it into an overdamped system, so that the final output of the slewing system will not vibrate during stopping and running, or will suppress vibration to a certain extent.

[0080] Implementation Method 3

[0081] The present invention provides a slewing control device for a slewing system, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned slewing control method for the slewing system.

[0082] Specifically, the computer device can be a computer terminal, a server, or a similar computing device.

[0083] Implementation Method 4

[0084] The present invention provides a computer-readable storage medium storing a computer program that performs the slewing control method of the above-described slewing system.

[0085] Specifically, computer-readable storage media include both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable storage media does not include transient media, such as modulated data signals and carrier waves.

[0086] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0087] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0088] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0089] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0090] It should be noted that in the description of this invention, the terms "first," "second," etc., are used only for descriptive purposes and to distinguish similar objects; there is no order between them, nor should they be construed as indicating or implying relative importance. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0091] Any numerical values ​​cited herein include all values ​​ranging from a lower limit to an upper limit, increasing by one unit, with at least two units between any lower and any higher value. For example, if the quantity of a component or the value of a process variable (e.g., temperature, pressure, time, etc.) is described as being from 1 to 90, preferably from 21 to 80, more preferably from 30 to 70, the purpose is to illustrate that values ​​such as 15 to 85, 22 to 68, 43 to 51, 30 to 32 are also explicitly listed in this specification. For values ​​less than 1, a unit is appropriately considered to be 0.0001, 0.001, 0.01, 0.1, etc. These are merely examples intended for explicit expression, and it can be assumed that all possible combinations of values ​​listed between the minimum and maximum values ​​are explicitly described in this specification in a similar manner.

[0092] Unless otherwise stated, all ranges include the endpoints and all numbers between them. The terms "approximately" or "about" used with ranges apply to both endpoints of the range. Thus, "approximately 20 to 30" is intended to cover "approximately 20 to approximately 30," including at least the specified endpoints.

[0093] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this teaching should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including disclosures of patent inventions and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not an abandonment of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed inventive subject matter.

Claims

1. A method of controlling a swing of a slewing system, the slewing system including a slewing mechanism and a motor for driving the slewing mechanism to swing, the motor being capable of receiving a frequency command of an inverter, characterized by, The swing control method of the slewing mechanism comprises: Based on the oscillation frequency of the slewing system, a trap filter vibration suppression model is established; wherein the trap filter vibration suppression model is: Wherein ω is the center frequency; a is the damping coefficient; r is the depth; b is the high response coefficient; The output frequency of the frequency converter is processed through the trap filter vibration suppression model to obtain the actual output frequency; the output frequency of the frequency converter includes the point acceleration frequency, the point deceleration frequency and the normal frequency; In the state that the output frequency of the frequency converter is the point acceleration frequency, the center frequency of the trap filter vibration suppression model is the point acceleration center frequency, and the high response coefficient of the trap filter vibration suppression model is the point acceleration high response coefficient; wherein the point acceleration center frequency can be detected by an external detection device when the driver performs the point operation, and the point acceleration high response coefficient can be obtained by debugging; In the state that the output frequency of the frequency converter is the point deceleration frequency, the center frequency of the trap filter vibration suppression model is the point acceleration center frequency, and the high response coefficient of the trap filter vibration suppression model is 1; wherein the point acceleration center frequency can be detected by an external detection device when the driver performs the point operation, and the point acceleration high response coefficient can be obtained by debugging; In the state that the output frequency of the frequency converter is the normal frequency, the center frequency of the trap filter vibration suppression model is the normal center frequency, and the high response coefficient of the trap filter vibration suppression model is the normal high response coefficient; wherein the normal center frequency is detected by an external detection device when the driver performs the point operation; and the normal high response coefficient can be obtained by debugging; The motor controls the output angular velocity of the slewing mechanism according to the received actual output frequency.

2. A swing control device of a slewing system, characterized by comprising: The slewing system comprises a slewing mechanism and a motor for driving the slewing mechanism to swing, and the motor can receive the frequency instruction of a frequency converter, characterized in that the swing control device of the slewing mechanism adopts the swing control method as claimed in claim 1, and the swing control device comprises: A model unit establishes a trap filter vibration suppression model based on the oscillation frequency of the slewing system; An output unit processes the output frequency of the frequency converter through the trap filter vibration suppression model to obtain the actual output frequency; A control unit controls the output angular velocity of the slewing mechanism according to the received actual output frequency.

3. A swing control apparatus of a slewing mechanism, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the swing control method of the slewing system as claimed in claim 1.

4. A computer-readable storage medium, characterized in that, The computer readable storage medium stores the computer program for executing the swing control method of the slewing system as claimed in claim 1.

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