Crane and crane control method

A crane comprising:

• control circuitry configured to control an actuator of a boom based on a target speed signal relating to a moving direction and a speed of a load suspended from the boom by a wire rope and a suspending tool;
• and
• an acceleration sensor configured to detect an acceleration of the suspending tool or the load, wherein
• the control circuitry is configured to:
• convert, every predetermined unit time, the target speed signal into a target position of the load relative to a reference position,
• compute, every unit time, a spring constant of the wire rope from a previously-computed position of the load the unit time before, the current position of the boom tip relative to the reference position and a current acceleration of the suspending tool or the load,
• compute, every unit time, a target position of the boom tip for the target position of the load from the current acceleration of the suspending tool or the load, the spring constant of the wire rope and the target position of the load, and
• generate, every unit time, an operation signal for the actuator based on the target position of the boom tip.