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对于采用断续控制的起重机，提出了基于时间最优的消除载荷摆动的具体控制策略，采用提出的两拍消摆策略，可在半个周期内消除载荷的摆振，它可作为起重机控制程序的一部分使用．
For the crane with intermittent control, a specific control strategy based on the optimal time to eliminate the load swing is proposed. The proposed two-beat pendulum strategy can eliminate the load shimmy within half a cycle. It can be used as a crane control program Part of the use.