| 摘要 |
<p>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 (13,14) 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 (22) to determine at least one specific oscillation frequency of the boom on the basis of said measurement signals, a setting step (23), 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 (24), in which said control signal is filtered with said filtering function to form a control signal, and a control step (25), in which said control signal is used to guide the movement of the boom (3). <IMAGE></p> |
