Tower crane anti-swing operation control method

The invention discloses a tower crane anti-swing operation control method. The method comprises the steps that crane operating parameters are input; the crane transport time is equally divided into Nsegments, an accelerated speed curve on each segment is approached through a one-time straight line method, and a state curve is calculated through a four-step Runge-Kutta method; and an SQP optimization algorithm is adopted to optimize the control parameters of the segmented straight line, and the optimal accelerated speed control curve is obtained. 本发明公开了种塔式起重机防摇运行控制方法，包括：输入起重机运行参数；将起重机运送时间等分成N段，每段上的加速度曲线采用次直线方法逼近；使用4阶龙格-库塔法计算状态曲线；采用SQP优化算法优化分段直线的控制参数，获得最优加速度控制曲线。