Method of controlling a hydropneumatic suspension of a vehicle crane

A method for controlling a hydropneumatic suspension of a mobile crane having at least four wheels which are each allocated a spring cylinder, and having at least four spring circuits in which at least one spring cylinder is incorporated in each case, with each spring circuit being allocated a pressure measurement sensor and a path measurement sensor, said method comprising:

• processing signals of the pressure measurement sensors and of the path measurement sensors by a control unit and actuating the spring cylinders;
• leveling the mobile crane for road travel operation of the mobile crane using preset suspension height set values of the spring circuits;
• calculating pressure set values per spring circuit in the control unit on the basis of the pressures detected by the pressure measurement sensors;
• and
• readjusting the pressures in the spring circuits with the aid of the pressure set values;
• wherein calculating the pressure set values of the spring circuits comprises calculating the pressure set values with knowledge of the position of the overall center of gravity of the mobile crane and of the overall weight of the mobile crane;
• and
• wherein calculating the pressure set values of the spring circuits comprises distributing the sum of the detected pressures of the spring circuits to the calculated pressure set values of the spring circuits.