Patent Document ID: 20150012188
Application ID: 14322459
Patent Flag: 0

Claim One:
1. A crane controller for the semi-automatic control of a rotary crane, the crane comprising at least a stewing actuator for creating a stewing motion of the crane and/or a luffing actuator for creating a luffing motion of the crane, and the crane controller comprising an input unit which can be operated by a operator to provide a desired stewing speed and/or a desired luffing speed as an operator input, a model-predictive reference trajectory planning module comprising an optimization unit for calculating a reference trajectory that obeys the system dynamics and follows the operator input, and a feedforward-controller using the reference trajectory for controlling the stewing actuator and/or the luffing actuator, wherein the optimization unit takes into account the deflection of the rope in the tangential and/or radial direction when solving the optimization problem that provides the reference trajectory.