The present application relates to high-altitude hoisting technical field, disclose a kind of hoisting operation control method, comprising the following steps: one, real-time acquisition the state information of
tower material to be hoisted;Two, construct multi-
source data fusion model to process the state information of
tower material to be hoisted, and obtain the high-precision state information estimate of
tower material to be hoisted;Three, based on the
layout information of pedestal, hoist arm and sling, establish fixed coordinate
system;Four, based on the elastic deformation of tower material to be hoisted and crane's sling, gravity and
visual feedback information, establish the
differential equation of sling shape;Five, predict the state trajectory of tower material to be hoisted in future time window, design model
predictive controller, with the error between tower material desired
pose and actual
pose minimization as goal, solve the
optimal control parameter of
tractor;The present application is aimed at hoisting tower material state feedback demand, installs multiple sensors in hoist arm end, hook and other positions, constructs tower material closed-loop
attitude control algorithm, realizes the accurate control of tower material attitude.