Crane control, crane and method

A crane control of a crane, which includes at least one cable for lifting a load, wherein at least one sensor unit is provided for determining a cable angle relative to the direction of gravitational force, and wherein the sensor unit includes an electric spirit level, wherein the sensor unit is arranged on a cable follower, which via a cardan joint is connected with a boom of the crane and which is guided on the cable, wherein the cardan joint enables the cable follower to freely move about a horizontal and vertical axis but inhibits rotary movement.

A crane control for driving the positioners of a crane which includes at least one first and one second strand of cables for lifting the load, comprising a load oscillation damping for damping spherical pendular oscillations of the load, wherein first and second sensor units are provided, which are associated to the first and second strands of cables, in order to determine the respective cable angles and/or cable angular velocities, and the load oscillation damping includes a control in which the cable angles and/or cable angular velocities determined by the first and second sensor units are considered, wherein the first and second sensor units each comprise a gyroscope unit, each sensor unit being arranged on a cable follower, which, via a cardan joint, is connected with a boom of the crane and which is guided on the cable, and wherein the cardan joint enables the cable follower to freely move about a horizontal and vertical axis but inhibits rotary movement.

The crane control according to 23, with at least one sensor unit provided for determining a cable angle relative to the direction of gravitational force.

A crane for lifting a load, comprising positioners for moving the crane and the load, and comprising a crane control for driving the positioners, wherein the crane control includes a load oscillation damping for damping spherical pendular oscillations of the load, and wherein the crane includes at least two strands of cables for lifting the load, two sensor units are provided, which are associated to the two strands of cables, in order to determine the respective cable angles and/or cable angular velocities, and the load oscillation damping includes a control in which the cable angles and/or cable angular velocities determined by the two sensor units are considered wherein the sensor units are arranged on a cable follower, which, via a cardan joint, is connected with a boom of the crane and which is guided on the cable, and wherein the cardan joint enables the cable follower to freely move about a horizontal and vertical axis but inhibits rotary movement.