Liebherr-Werk Nenzing Gmbh

Eckhard Arnold

Oliver Sawodny

Ulf Schaper

Klaus Schneider

Karl Lukas Knierim

Jörg Neupert

Klaus Scheider

Oliver Prof Dr-Ing Sawodny

The present invention shows a crane controller for the semi-automatic control of a rotary crane, the crane comprising at least a slewing actuator for creating a slewing motion of the crane and/or a luffing actuator for creating a luffing motion of the crane, the crane controller comprising an input unit which can be operated by a operator to provide a desired slewing speed and/or a desired luffing speed as an operator input and 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 slewing actuator and/or the luffing actuator. Further, 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.

Crane controller

The present disclosure relates to a method for controlling the orientation of a crane load, wherein a manipulator for manipulating the load is connected by a rotator unit to a hook suspended on ropes and the skew angle &#x3b7;L of the load is controlled by a control unit of the crane, characterized in that the control unit is an adaptive control unit wherein an estimated system state of the crane system is determined by use of a nonlinear model describing the skew dynamics during operation.

Method for controlling the orientation of a crane load and a boom crane

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Illmenau, Germany

Eckhard Arnold