Patent ID: 7627393

Claim:
A crane for traversing a load hanging on a load cable, which comprises: a rotating mechanism ( 1 ) for rotating the crane, a luffing mechanism ( 7 ) for elevating and lowering a jib ( 5 ), a lifting mechanism for raising and lowering the load ( 3 ) hanging on the load cable, and a computer-based control system ( 31 ) for damping the oscillations of the load including a path planning module ( 39 ), a centripetal force compensating device ( 150 ) and at least one axis controller ( 43 ) for the rotating mechanism, an axis controller ( 45 ) for the luffing mechanism, and an axis controller ( 47 ) for the lifting mechanism, wherein the angle of oscillation and the speed of oscillation of the load (φ St , {dot over (φ)} St. , φ Sr. , {dot over (φ)} Sr ) are calculated from gyroscopic signals from at least one gyroscope, wherein the path of the load in the working space is generated in the path planning module and is passed on to a respective axis controller in the form of a time function for the load position, speed, acceleration of the jerk and derivative of the jerk, and further including a mechanical system and hydraulic system, wherein each axis controller includes a feed-forward control unit in which the dynamic behavior of the mechanical system and hydraulic system is depicted in an idealized dynamic model, and a state control unit in which deviations from the idealized dynamic model of the feed forward control are registered.