Crane and crane control method

A crane, comprising:

• a boom;
• an actuator that drives the boom;
• a generation part that generates a first control signal of the actuator;
• a filter part that filters the first control signal to generate a second control signal;
• a control part that controls the actuator based on the second control signal;
• and
• a computation part that calculates, in a case where a stop signal is input to the actuator at a present position of the boom, information regarding a flow quantity estimated when the boom moves from after the stop signal is input to the actuator until an operation of the boom stops,
• wherein, in the control based on the second control signal, the control part
• acquires information regarding a present position of the boom, information regarding a target stop position, and information regarding the flow quantity,
• outputs the stop signal to the actuator in a case where a difference between a limit movement quantity and a first movement quantity is equal to or less than a first flow quantity, and
• stops the boom at the target stop position based on the stop signal,
• wherein the information regarding the present position is a first operation quantity of the actuator corresponding to a movement quantity of the boom moved from a first reference position,
• wherein the information regarding the target stop position is a limit operation quantity of the actuator corresponding to the limit movement quantity in which the boom can move from the first reference position,
• wherein the first flow quantity is the flow quantity in which the boom moves from when the stop signal is input to the actuator until the boom stops,
• wherein the first movement quantity is the movement quantity of the boom moved from a first reference position,
• wherein the information regarding the flow quantity is a second operation quantity of the actuator corresponding to the estimated flow quantity,
• wherein, in the control based on the second control signal, the control part outputs the stop signal to the actuator in a case where a difference between the limit operation quantity and the first operation quantity is equal to or less than the second operation quantity, and
• wherein the generation part, the filter part, the control part, and the computation part are each implemented via at least one processor.