Tower, filter design method, computer device, readable storage medium

Abstract

The application provides a tower crane, a filter design method, a computer device and a readable storage medium. The tower crane comprises a power system and a rocker system, and further comprises a control system electrically connected to the power system and the rocker system, and the power system is connected to a load. The rocker system is used to send an original instruction signal to the control system, and the control system is used to filter the original instruction signal to remove a frequency component causing load swing, and then send the filtered instruction signal to the power system of the tower crane, so that the power system drives the load to achieve swing suppression, and effectively reduces or even eliminates the load swing.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tower crane control, and in particular, relates to a tower crane, a filter design method, a computer device, and a computer readable storage medium. BACKGROUND

[0002] The existing tower crane operation mode is to use simple electric drag devices to manually operate the load suspended by the long rope, which easily causes the load to sway. Therefore, only experienced tower crane operators can perform the suspended load carrying work. However, the tower crane operators have to use the slow acceleration and deceleration mode to avoid the load swaying during the start and stop of the load carrying operation, which greatly affects the work efficiency of the tower crane operators.

[0003] Adding the sway suppression function to the power and transmission system of the tower crane through the automatic control technology is a very ideal technical solution to solve the problem of the tower crane load swaying. If the tower crane system itself has the sway suppression function, the requirement for the manual skills of the tower crane operators can be reduced, the work efficiency of the tower crane operators can be effectively improved, and the safety of the overall construction site environment can be greatly improved. Therefore, it is of great practical significance to solve the problem of the tower crane load swaying.

[0004] However, the current known control technology is still difficult to solve the problem of the tower crane load swaying. SUMMARY

[0005] The present application aims to at least solve one of the problems in the prior art or related art.

[0006] To this end, the first object of the present application is to provide a tower crane.

[0007] The second object of the present application is to provide a filter design method.

[0008] The third object of the present application is to provide a computer device.

[0009] The fourth object of the present application is to provide a computer readable storage medium.

[0010] In order to achieve the above object, the technical scheme of the first aspect of the present application provides a tower crane, which comprises a power system and a rocker system, and further comprises a control system electrically connected to the power system and the rocker system, the power system being connected to a load; the rocker system is used to send an original instruction signal to the control system, the control system is used to filter the original instruction signal to remove the frequency component causing the load to shake, and then send the filtered instruction signal to the power system of the tower crane, so that the power system drives the load to achieve the shaking suppression.

[0011] Preferably, the control system comprises a shaking suppression filter used to filter the original instruction signal, the shaking suppression filter F(s) comprising three filters in parallel with weights, i.e. a first filter, a second filter and a third filter; the first filter has f1(s) as a transfer function, the second filter has f2(s) as a transfer function, and the third filter has f3(s) as a transfer function; i.e. F(s) = γ1f1(s) + γ2f2(s) + f3(s); γ1 and γ2 are weight coefficients, 0 ≤ γ1 ≤ 1, 0 ≤ γ2 ≤ 1, wherein the structural form of f1(s), f2(s) and f3(s) is as follows:

[0012]

[0013]

[0014]

[0015] wherein ω is a frequency parameter of the first filter, the second filter and the third filter, and s is an independent variable in a frequency domain.

[0016] The technical scheme of the second aspect of the application further provides a filter design method for the sway suppression filter in the above technical scheme, and the design method comprises the following steps: measuring the frequency of the load sway of the tower crane, the frequency of the load sway is rad / s, and the measured value of the frequency of the load sway is assigned to the frequency parameter ω; inputting a step signal as a command signal r(t) into a computer-simulated second-order inertia system, and obtaining the ideal speed I(t) of the load output by the second-order inertia system; using G(s) to represent the transfer function of the system between the input command signal r(t) and the actual speed Y(t) of the load when the tower crane does not perform load sway suppression; sampling the following three actual speed signals: filtering a step signal as a command signal r(t) by using a filter f1(s), sending the filtered command signal as a control command of the tower crane to a power system, and measuring and sampling the load speed y1(t) of the tower crane system at this time; filtering a step signal as a command signal r(t) by using a filter f2(s), sending the filtered command signal as a control command of the tower crane to a power system, and measuring and sampling the load speed y2(t) of the tower crane system at this time; filtering a step signal as a command signal r(t) by using a filter f3(s), sending the filtered command signal as a control command of the tower crane to a power system, and measuring and sampling the load speed y3(t) of the tower crane system at this time;

[0017] According to the properties of the linear system, it is known from F(s)=γ1f1(s)+γ2f2(s)+f3(s) that, when a step signal is input as a command signal r(t) into a system with F(s)G(s) as the transfer function, the load speed Y f (t) is: Y f (t)=γ1y1(t)+γ2y2(t)+y3(t); according to the load speed y1(t), the load speed y2(t), the load speed y3(t), the ideal speed I(t) and the least square method, I(t) and Y fthe condition equation of the square sum of the difference of each sampling value taking the minimum value, and the numerical values of γ1 and γ2 are calculated from the condition equation; the sway suppression filter F(s) is determined according to the numerical values of γ1, γ2 and ω; the sway suppression filter F(s) is designed for different numerical values of the length L of the vertical part of the current rope suspending the load, and after each design of the sway suppression filter F(s), the numerical values of γ1 and γ2 calculated, the numerical value of ω measured, and the numerical value of the length L of the vertical part of the current rope corresponding are stored; the calculation and design of the numerical values of γ1 and γ2 and the measurement of the numerical value of ω are carried out for at least five different lengths L, and a function between the numerical value of the length L as the independent variable and the numerical value of γ1, γ2 and ω as the dependent variable is fitted according to the numerical values of the length L corresponding to the numerical values of γ1, γ2 and ω; when the tower crane is suppressing load sway, the numerical values of γ1, γ2 and ω corresponding to the length L are directly obtained according to the numerical value of the current length L of the vertical part of the current rope suspending the load obtained and the function fitted, and are given to the filter F(s).

[0018] Preferably, the I(t) and Y f (t) between the condition equation of the square sum of the difference of each sampling value taking the minimum value, and the numerical values of γ1 and γ2 are calculated from the condition equation, specifically comprising: setting the sampling time points of the load speed Y f (t), the load speed y1(t), the load speed y2(t), the load speed y3(t), and the ideal speed I(t) are the same, and have a fixed sampling period δ, and the sampling number is n, and the sampling time is nδ; wherein n=1, 2,..., n, n is a positive integer; according to the sampling points of the load speed Y f (t), the load speed y1(t), the load speed y2(t), the load speed y3(t), and the ideal speed I(t), and the expression of the load speed Y f (t), the expressions of the load speed Y f (t) and the proximity index D of the ideal speed I(t) are:

[0019]

[0020]

[0021] The partial derivatives of γ1 and γ2 are calculated respectively as follows:

[0022]

[0023]

[0024] Setting both of the above equations to 0, we can obtain:

[0025]

[0026]

[0027] Equations (1) and (2) above are combined into a system of equations. The sampled values ​​corresponding to the sampling points of the load speed y1(t), load speed y2(t), load speed y3(t), and ideal speed I(t) are substituted into the system of equations to calculate the values ​​of γ1 and γ2 respectively.

[0028] The third aspect of the present invention also provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the filter implemented by the processor when executing the computer program adopts the filter design method in any of the above-mentioned technical solutions.

[0029] The fourth aspect of the present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the filter implemented by the computer program when executed by a processor adopts the filter design method in any of the above-mentioned technical solutions.

[0030] The beneficial effects of this invention are:

[0031] The tower crane provided by this invention filters the original command signal sent by the rocker system through a sway suppression filter in the control system, removing the frequency components that cause load swaying. The filtered command signal is then sent to the tower crane's power system to drive the load, thereby effectively reducing or even eliminating load swaying.

[0032] The sway suppression filter design of this invention, at a very low cost, effectively reduces or even eliminates load sway, replacing the traditional method used by tower crane operators to slowly accelerate and decelerate during the start and stop phases of load handling to avoid load sway. This significantly shortens the acceleration and deceleration time for tower crane operators during the start and stop phases of handling, reduces the difficulty of tower crane operation, effectively improves the work efficiency of tower crane operators, and ultimately greatly enhances the overall safety of the construction site environment. The filter design method provided by this invention has a simple design process and can be automated.

[0033] Additional aspects and advantages of the present application will become apparent from the following description, or will be learned through practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 a schematic block diagram of a tower crane is shown;

[0035] Figure 2 a flowchart of a design method of a sway suppression filter in Figure 1

[0036] Figure 3 a schematic block diagram of a computer device is shown. DETAILED DESCRIPTION

[0037] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0038] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, and therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0039] Figure 1 a schematic block diagram of a tower crane is shown. As Figure 1 shown, a tower crane includes a power system and a rocker system, and the tower crane further includes a control system electrically connected to the power system and the rocker system, and the power system is connected to a load;

[0040] The rocker system is used to send an original instruction signal to the control system, and the control system is used to filter the original instruction signal to remove the frequency component causing the load to sway, and then send the instruction signal after filtering to the power system of the tower crane, so that the power system drives the load to achieve sway suppression.

[0041] The control system includes a sway suppression filter for filtering the original instruction signal, and the sway suppression filter F(s) includes three filters in parallel with weights: a first filter, a second filter and a third filter; the first filter has f1(s) as a transfer function, the second filter has f2(s) as a transfer function, and the third filter has f3(s) as a transfer function;

[0042] ​That is: F(s) = γ1f1(s) + γ2f2(s) + f3(s); γ1 and γ2 are weighting coefficients, 0 ≤ γ1 ≤ 1, 0 ≤ γ2 ≤ 1, wherein the structural form of f1(s), f2(s), f3(s) is:

[0043]

[0044]

[0045]

[0046] Wherein, ω is the frequency parameter of the first filter, the second filter and the third filter, and s is the independent variable of the frequency domain.

[0047] The tower crane provided by the application can filter the original instruction signal sent by the rocker system through the sway suppression filter in the control system, remove the frequency component causing the load sway, and then send the instruction signal after the filtering to the power system of the tower crane, so that the power system can drive the load, and the purpose of effectively reducing or even eliminating the load sway can be achieved. In the specific embodiment, the control system can be a single-chip microcomputer system.

[0048] Specifically, by designing the sway suppression filter to include three filters in parallel connection, the transfer function of the sway suppression filter of the application is F(s) = γ1f1(s) + γ2f2(s) + f3(s), and according to the structural form of f1(s), f2(s) and f3(s), the sway suppression filter F(s) of the application can reduce the high-frequency component in the original signal, while reducing the phase distortion in the relevant frequency range on the premise of ensuring the notch effect, thereby ensuring the suppression effect of the sway suppression filter of the application on the load sway. At the same time, by designing the transfer function of the sway suppression filter as a frequency domain transfer function, the sway suppression filter has low sensitivity to the parameters of the entire control system, thereby improving the reliability of the suppression effect of the load sway.

[0049] Figure 2 The flowchart of the design method of the sway suppression filter in the control system is shown. Figure 1 As shown in Figure 2 , the design method comprises:

[0050] Step 202, measure the frequency of the load sway of the tower crane, the unit of the frequency of the load sway is rad / s, and assign the measured value of the frequency of the load sway to the frequency parameter ω;

[0051] Step 204, input a step signal as an instruction signal to a computer-simulated second-order inertial system, and obtain the ideal speed I(t) of the load output by the second-order inertial system.

[0052] Step 206, filtering the step signal as the instruction signal with filter f1(s), sending the instruction signal after filtering to the power system as the control instruction of the tower crane, measuring and sampling the load speed y1(t) of the tower crane system at this time;

[0053] Step 208, filtering the step signal as the instruction signal with filter f2(s), sending the instruction signal after filtering to the power system as the control instruction of the tower crane, measuring and sampling the load speed y2(t) of the tower crane system at this time;

[0054] Step 210, filtering the step signal as the instruction signal with filter f3(s), sending the instruction signal after filtering to the power system as the control instruction of the tower crane, measuring and sampling the load speed y3(t) of the tower crane system at this time;

[0055] Step 212, according to the properties of linear system, it can be known from F(s)=γ1f1(s)+γ2f2(s)+f3(s) that the step signal as the instruction signal r(t) is input to the system with F(s)G(s) as the transfer function, and the load speed Y f (t) is: f Y f (t)=γ1y1(t)+γ2y2(t)+y3(t);

[0056] Step 214, according to the load speed y1(t), the load speed y2(t), the load speed y3(t), the ideal speed I(t) and the least square method, the condition equation of taking the square sum of the difference of each sampling value between I(t) and Y f (t) to the minimum value is obtained, and the values of γ1 and γ2 are calculated from the condition equation;

[0057] Step 216, determining the sway suppression filter F(s) according to the values of γ1, γ2 and ω;

[0058] Step 218, repeating steps 202 and steps 206 to 214 for different values of the length L of the vertical part of the current rope of the suspended load, obtaining the values of γ1, γ2 and ω under different lengths L, storing the calculated γ1 and γ2 and the measured ω each time, and the value of the length L of the vertical part of the current rope corresponding to the value; performing the calculation and design of the values of γ1 and γ2 under at least five different lengths L and the measurement of the corresponding value of ω, fitting the function between the value of the independent variable length L and the value of the dependent variable γ1, γ2 and ω according to the values of length L corresponding to the values of γ1, γ2 and ω;

[0059] Step 220, when the tower crane is in the process of load sway suppression, according to the obtained value of the current length L of the vertical part of the current rope suspending the load, and the fitted function, the values of γ1, γ2 and ω corresponding to the length L are directly obtained, and are assigned to the sway suppression filter F(s).

[0060] In the embodiment, G(s) is used to represent the transfer function of the system between the input command signal r(t) and the actual speed Y(t) of the load when the tower crane is not in the process of load sway suppression. The transfer function G(s) does not need to be determined. The command signal in the design process is a step signal, which is in the form of:

[0061]

[0062] where A is the amplitude, which is determined according to the driving capacity of the tower crane and the test requirements: as large as possible under the condition of driving capacity and safety, in order to ensure that the significant tower crane load speed characteristics are excited. In the whole design process, the value of A is constant, that is: all the load speeds y1(t), y2(t) and y3(t) are triggered to obtain by using the same step signal as the command signal.

[0063] In the embodiment, the measurement and sampling of the load speed y1(t), the load speed y2(t) and the load speed y3(t) can be performed by using a high-precision differential GPS device. That is: the GPS measurement module is fixed on the tower crane load to perform high-frequency and high-precision measurement of the position, and finally the speed value is obtained by differentiating the position signal.

[0064] In the embodiment, the values of different lengths L of the vertical part of the current rope suspending the load can be obtained by a sensor on the tower crane, which can be an encoder of a driving motor.

[0065] The filter design method provided by the application designs the sway suppression filter through a time domain method of least square method, and then determines the values of gamma 1 and gamma 2, so as to obtain the specific form of the transfer function F(s) of the sway suppression filter. Further, according to the single pendulum model, the frequency omega of the load sway of the tower crane depends on the values of the different lengths L of the vertical part of the current rope of the suspended load, so different values of gamma 1 and gamma 2 should be corresponded to different lengths L. For this purpose, the application adopts the calculation design of the values of gamma 1 and gamma 2 under at least five different lengths L and the measurement of the values of omega corresponding to the values of gamma 1, gamma 2 and omega, and fits the function between the values of the length L of the independent variable and the values of gamma 1, gamma 2 and omega of the dependent variable according to the values of the length L of the current rope of the suspended load of the current vertical part and the fitted function. When the suppression of the load sway of the tower crane is performed, the values of gamma 1, gamma 2 and omega corresponding to the length L are directly obtained according to the current length L of the vertical part of the current rope of the suspended load and the fitted function, and are given to the filter F(s). The sway suppression filter can remove the frequency component causing the load sway, and then sends the instruction signal after the filtering to the power system of the tower crane, so that the power system drives the load, and the suppression of the load sway of the tower crane is realized. The design of the sway suppression filter of the application can effectively reduce or even eliminate the load sway at a very low cost, replace the slow acceleration and deceleration adopted by the traditional tower crane operator in the starting and stopping stages of the operation of the tower crane to carry the load to avoid the load sway, greatly shorten the acceleration and deceleration process time of the tower crane operator in the starting and stopping stages of the carrying process, reduce the operation difficulty of the tower crane, effectively improve the work efficiency of the tower crane operator, and finally greatly improve the safety of the overall environment of the construction site. The design process of the filter design method provided by the application is simple and can be automatically completed.

[0066] In one embodiment of the application, the condition equation of taking the square sum of the difference between each sample value of I(t) and Y f (t) to minimum according to the load speed y1(t), the load speed y2(t), the load speed y3(t), the ideal speed I(t) and the least square method, and the values of gamma 1 and gamma 2 are calculated from the condition equation, which specifically comprises: setting the sampling time points of the load speed Y f (t), the load speed y1(t), the load speed y2(t), the load speed y3(t) and the ideal speed I(t) to be the same, and having a fixed sampling period delta and a sampling number n, and the sampling time is n delta; wherein n = 1, 2,..., n, and n is a positive integer; and calculating the values of gamma 1 and gamma 2 according to the condition equation of taking the square sum of the difference between each sample value of I(t) and Y fThe sampling points of load speed y1(t), load speed y2(t), load speed y3(t), ideal speed I(t), and the load speed Y f The expression for (t) is used to obtain the load speed Y in sequence. f The expressions for the proximity index D of I(t) and the ideal velocity I(t) are:

[0067]

[0068]

[0069] Taking the partial derivatives with respect to γ1 and γ2 respectively, we can obtain:

[0070]

[0071]

[0072] Setting both of the above equations to 0, we can obtain:

[0073]

[0074]

[0075] Equations (1) and (2) above are combined into a system of equations. The sampled values ​​corresponding to the sampling points of the load speed y1(t), load speed y2(t), load speed y3(t), and ideal speed I(t) are substituted into the system of equations to calculate the values ​​of γ1 and γ2 respectively.

[0076] Figure 3 A schematic block diagram of a computer device according to an embodiment of the present invention is shown. Figure 3 As shown, a computer device 300 includes: a memory 302, a processor 304, and a computer program stored in the memory 302 and executable on the processor 304. The filter implemented by the processor 304 when executing the computer program adopts the filter design method in any of the above embodiments.

[0077] According to the single pendulum model, the frequency omega of the tower crane load swing depends on the value of the different length L of the vertical part of the current rope of the suspended load, so in the case of different length L, the values of gamma1 and gamma2 should be corresponded. For this purpose, the present application adopts the calculation design of the values of gamma1 and gamma2 at least five different length L and the measurement of the values of omega corresponding to the values of gamma1, gamma2 and omega, and the length L corresponding to the values of gamma1, gamma2 and omega, the function between the independent variable length L and the dependent variable gamma1, gamma2 and omega is fitted, when the tower crane load swing is inhibited, according to the current length L of the vertical part of the current rope of the suspended load and the fitted function, the values of gamma1, gamma2 and omega corresponding to the length L are directly obtained, and the filter F(s) is given, the swing inhibition filter can remove the frequency component leading to load swing, then the instruction signal after filtering is sent to the power system of the tower crane, so that the power system drives the load, realizes the inhibition of the tower crane load swing. The swing inhibition filter design of the present application can achieve the purpose of effectively reducing or even eliminating the load swing at very low cost, instead of the slow acceleration and deceleration method used by the traditional tower crane operator in the starting and stopping stage of the load carrying process to avoid load swing, thereby greatly shortening the acceleration and deceleration process time of the tower crane operator in the starting and stopping stage of the load carrying process, reducing the operation difficulty of the tower crane, effectively improving the work efficiency of the tower crane operator, and finally greatly improving the safety of the overall environment of the construction site. The filter design method provided by the present application has simple design process and can be automatically completed.

[0078] The present application also provides a computer readable storage medium, which stores a computer program, and the filter realized by the computer program executed by the processor adopts the filter design method of any one of the above embodiments.

[0079] According to the single pendulum model, the frequency ω of the tower crane load swing depends on the value of the different length L of the vertical part of the current rope of the suspended load, so in the case of different length L, the values of γ1 and γ2 should be corresponded. For this purpose, the present application adopts the calculation design of the values of γ1 and γ2 at least five different length L and the measurement of the values of ω corresponding to the values of γ1, γ2 and ω, and the length L corresponding to the values of γ1, γ2 and ω, fitting the function between the independent variable length L and the dependent variable γ1, γ2 and ω, when the tower crane load swing is inhibited, according to the current length L of the vertical part of the current rope of the suspended load, and the fitted function, the values of γ1, γ2 and ω corresponding to the length L are directly obtained, and the filter F(s) is given, the swing inhibition filter can remove the frequency component causing the load swing, then the instruction signal after filtering is sent to the power system of the tower crane, so that the power system drives the load, realizes the inhibition of the tower crane load swing. The swing inhibition filter design of the present application can achieve the purpose of effectively reducing or even eliminating the load swing at very low cost, instead of the slow acceleration and deceleration method used by the traditional tower crane operator in the starting and stopping stage of the load carrying process to avoid the load swing, thereby greatly shortening the acceleration and deceleration process time of the tower crane operator in the starting and stopping stage of the load carrying process, reducing the operation difficulty of the tower crane, effectively improving the work efficiency of the tower crane operator, and finally greatly improving the safety of the overall environment of the construction site. The filter design method provided by the present application has simple design process and can be automatically completed.

[0080] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A tower crane, the tower crane comprising: The power system and rocker system are characterized in that the tower crane further includes a control system, the control system being electrically connected to the power system and the rocker system, and the power system being connected to the load; The rocker system is used to send the original command signal to the control system. The control system is used to filter the original command signal to remove the frequency components that cause the load to sway. Then, the filtered command signal is sent to the power system of the tower crane so that the power system can drive the load to achieve sway suppression. The control system includes a sway suppression filter for filtering the original command signal. It includes three filters connected in weighted parallel: a first filter, a second filter, and a third filter; the first filter is... As the transfer function, the second filter is... As the transfer function, the third filter is... For transfer functions; Right now: ; and These are weighting coefficients. , ,in, , , The structural form is: ； ； ； in, The frequency parameters of the first filter, the second filter, and the third filter are... is the independent variable in the frequency domain.

2. A filter design method for the jitter suppression filter of claim 1, characterized in that, The design method includes: The frequency of the tower crane load sway is measured, with the unit of the load sway frequency being rad / s, and the measured value of the load sway frequency is assigned to the frequency parameter. ; Use the step signal as the command signal The input is fed into a computer-simulated second-order inertial system to obtain the ideal velocity of the load output by the second-order inertial system. ; use This indicates that the tower crane is not performing load sway suppression, as indicated by the input command signal. The actual speed to the load The transfer function of the system between them; The following three actual speed signals were sampled: Use the step signal as the command signal Use a filter The signal is filtered, and the filtered command signal is sent to the power system as the control command for the tower crane. The load speed of the tower crane system at this time is measured and sampled and recorded. ; Use the step signal as the command signal Use a filter The signal is filtered, and the filtered command signal is sent to the power system as the control command for the tower crane. The load speed of the tower crane system at this time is measured and sampled and recorded. ; Use the step signal as the command signal Use a filter The signal is filtered, and the filtered command signal is sent to the power system as the control command for the tower crane. The load speed of the tower crane system at this time is measured and sampled and recorded. ; Based on the properties of linear systems, by It can be seen that the step signal is used as the command signal. Input to For a system with a transfer function, the load speed for: ; According to the load speed Load speed Load speed Ideal speed And using the least squares method, we can obtain and The conditional equation that minimizes the sum of squares of the differences between the various sampled values ​​is obtained from this conditional equation. and The value; according to , and The value is used to determine the sway suppression filter. ; The sway suppression filter is adjusted for different values ​​of the length L of the vertical portion of the current rope suspending the load. Designing, in each iteration of the shake suppression filter After design, store the calculated results. and The values ​​obtained from measurements The value of the value, and the corresponding value of the length L of the vertical portion of the current rope; under at least five different lengths L, the value of the value of the vertical portion of the rope. and The numerical calculation design and corresponding The measurement of the value, and in accordance with the stated , as well as The value of the length L corresponding to the value of the independent variable is used to fit the value of the length L and the value of the dependent variable. , as well as A function between numerical values; When suppressing load sway in a tower crane, based on the obtained value of the current length L of the vertical portion of the rope suspending the load, and the fitted function, the corresponding load under load is directly calculated. , as well as The value is assigned to the filter. .

3. The filter design method according to claim 2, characterized in that, According to the load speed Load speed Load speed Ideal speed And using the least squares method, we can obtain and The conditional equation that minimizes the sum of squares of the differences between the various sampled values ​​is obtained from this conditional equation. and The values ​​specifically include: Set the load speed Load speed Load speed Load speed Ideal speed The sampling time points are all the same, and they have a fixed sampling period. And the number of samples is n, and the sampling time is n Where n = 1, 2, ..., n, n is a positive integer; According to the load speed Load speed Load speed Load speed Ideal speed The sampling points, and the load speed The expression is used to obtain the load speed in sequence. and the ideal speed Proximity index The expression is: For the above and Taking the partial derivative yields the following: Setting both of the above equations to 0, we can obtain: （1） （2） Equations (1) and (2) above are combined into a system of equations, and the load speed is... Load speed Load speed and ideal speed Substituting the sampled values ​​corresponding to the sampling points into the system of equations, we can calculate the results respectively. and The value.

4. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The filter implemented by the processor when executing the computer program adopts the filter design method as described in claim 2 or 3.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, The filter implemented when the computer program is executed by the processor adopts the filter design method as described in claim 2 or 3.

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