Provided are a crane and a crane control method wherein, when controlling an actuator using a load as a reference, the load can be made to move along a target track while swinging of the load is suppressed. The present invention comprises an acceleration sensor (22) that detects the acceleration of a load W, wherein a target velocity signal Vd is converted into target location coordinates p(n+1) of the load W, current location coordinates q(n) of a boom (9) are calculated from a slewing angle θz(n), a luffing angle θx(n), and an expansion/contraction length lb(n), the spring constant kf(n) of a wire rope is calculated from the previously calculated location of the load W from a unit time t earlier, the current location coordinates (n) of the boom (9), and the current accelerations Gx(n), Gy(n), Gz(n) of the load W as detected by the acceleration sensor (22), target location coordinates q(n+1) of the boom (9) are calculated from the accelerations Gx(n), Gy(n), Gz(n), the spring constant kf(n), and the target location coordinates (n+1) of the load W, and an actuator operation signal Md is generated.


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    Title :

    CRANE AND CRANE CONTROL METHOD


    Additional title:

    KRAN UND KRANSTEUERUNGSVERFAHREN
    GRUE ET PROCÉDÉ DE COMMANDE DE GRUE


    Contributors:

    Publication date :

    2024-03-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B66C Krane , CRANES



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