| 摘要 |
The invention relates to a method for guiding the boom (3) of a working machine in connection with the handling of a load, in which method the movements of the load are controlled by means of a control signal formed by at least one control means (9), one or several measurement signals are generated to determine information related to at least the load mass and/or the boom movement, and said at least one control signal is filtered. In the method, the filtering applies a filtering function of the second or a higher order, comprising at least one parameter which can be set, and the method also comprises at least the following steps:a determining step to determine at least one specific oscillation frequency of the boom on the basis of said measurement signals,a setting step, in which at least one specific oscillation frequency determined in the determining step is used to set at least one parameter for a filtering function,a filtering step, in which said control signal is filtered with said filtering function to form a control signal, anda control step, in which said control signal is used to guide the movement of the boom (3).
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