The controller has an active swell compensator for partially compensating a movement of rope suspension point (2) or a load relocating point by controlling a lifting gear (5) under consideration of maximum permissible jerk, maximum acceleration, maximum velocity and/or maximum power. The compensator computes a restriction of the lifting gear for controlling the lifting gear. An energy storage unit is connected with a drive of the lifting gear. A trajectory planning module determines a trajectory based on a prognosticated movement of the suspension point or the relocating point. Independent claims are also included for the following: (1) a method for controlling a crane (2) a software comprising a set of instructions for executing a method for controlling a crane.
Kransteuerung mit Antriebsbeschränkung
Crane controls with drive restriction
Commande de grue avec limite d'entraînement
13.02.2019
Patent
Elektronische Ressource
Deutsch