| 摘要 |
The objet of the invention is a method to control a harmonically oscillating load, in which method the load is transferred from a beginning state to a final state of the load oscillation and to a final velocity (Vref) of the point of suspension by controlling the load with control sequences which comprise consecutive acceleration pulses, whereby the beginning and final states of the load oscillation and the beginning and final velocities of the point of suspension are measured or estimated. The control sequence a(t) of the load is formed from many standard duration acceleration pulses (a1, a2, a3) calculated on the basis of random beginning and final states of the load. |
