The optimal control technology Manson (1982) applied the optimal control technology to the crane, suppressed the load swing, and produced the Pontryagin's highest rule of time optimal acceleration profile. Assuming that the cable length is constant, the acceleration curves of the three switching points are all functional travel distances, which are not applicable in practical application. Therefore, the best solution is unrealistic application, with only one base performance standard and other strategies. Sakagawa et al. a 1. (1982), an energetic crane. The application of the optimization index of the optimal control technology minimizes the transmission and target points during the oscillation of the energy payload, and minimizes the transmission time. This technology is applied to the crane load balance position around the linear model boom. In some cases, the crane rotates at a constant voltage angle at the same time. Lift the load. The simulation results show that the proposed control technology can eliminate the residual oscillation of the target point. However, the development of transient oscillation has the same weakness as rotation angle, optimal control technology and input shaping technology in control action. Both are very sensitive, and the initial conditions of different parameter values are changing. External interference. SingHose et A 1。 (2000) once showed that input shaping technology is very sensitive to the oscillation of natural frequency. Therefore, when there is increased or decreased motion, the performance shaping degradation is due to different cable lengths. Closed-loop control technology can alleviate these problems.