Self-erecting crane with control of the configuration change operations

A self-erecting crane comprising a mast supporting a jib, the jib being a foldable jib comprising jib elements articulated together, the self-erecting crane configurable between a transport configuration in which the mast and the jib are joined together or side-by-side, and at least one work configuration in which the mast and the jib are deployed, the self-erecting crane further comprising:

• a motor-driven folding/unfolding system coupled to the mast and to the jib and configured to act on the mast and on the jib to perform configuration change operations implementing kinematics of folding and unfolding the jib;
• a control/command system connected to the motor-driven folding/unfolding system, the control/command system configured to drive the motor-driven folding/unfolding system and control the configuration change operations;
• and
• one or several inclinometer(s) mounted on one or several of the jib element(s) for measuring actual inclinations of the jib element or of the several jib elements with respect to a reference axis,
• wherein the control/command system is configured to drive the motor-driven folding/unfolding system and control the configuration change operations according to the actual inclinations of the jib element or of the several jib elements during the kinematics of folding and unfolding the jib.