Construction and/or material-handling machine

A method for controlling a construction and/or material-handling machine, wherein the machine comprises a movable, functional element suspended in an oscillating manner, comprising:

• moving the functional element by at least one drive device;
• actuating the at least one drive device by a controller of the machine in dependence on manual manipulation movements for moving the functional element which are detected by a detection device;
• transmitting acceleration and rotational rate signals to the functional element from a first inertial measurement unit (IMU) mounted to the functional element and having acceleration and rotational rate sensors which indicate translatory accelerations and rotational rates at the functional element;
• transmitting wirelessly to the controller the translatory accelerations and rotational rates at the functional element;
• determining a deflection of the functional element relative to a vertical line passing through a pendulum suspension point of the functional element by a determination device from acceleration and rotational rate signals, wherein the determination device comprises a first determiner for determination and/or estimation of a tilt of the functional element from the acceleration and rotational rate signals of the first IMU and a second determiner for determination of the deflection of a pendulum suspension of a hoist rope carrying the functional element with respect to the vertical from the determined and/or estimated tilting of the functional element and an inertial acceleration of the pendulum suspension,
• wherein the first determiner comprises a complementary filter having a high-pass filter configured to filter a rotational rate signal of the first IMU;
• and a low-pass filter configured to filter an acceleration signal of the first IMU or a signal derived therefrom, wherein the complementary filter is configured to link with one another;
• an estimate of a tilt of a load receiver that is supported by a rotational rate and that is based on the high-pass filtered rotational rate signal;
• and an estimate of the tilt of the load receiver that is supported by acceleration and based on the low-pass filtered acceleration signal with one another;
• and wherein the complementary filter is configured to determine the estimated tilt of the load receiver from linked estimates of the tilt of the load receiver supported by the rotational rate and by the acceleration;
• and
• actuating the at least one drive device by the controller to compensate for the determined deflection of the functional element.