Crane controller with division of a kinematically constrained quantity of the hoisting gear

A crane controller for a crane which includes a hoisting gear for lifting a load hanging on a cable, comprising:

• an active heave compensation which by actuating the hoisting gear at least partly compensates movement of a cable suspension point and/or a load deposition point due to heave;
• and
• an operator control which actuates the hoisting gear with reference to specifications of an operator, wherein the controller includes two separate path planning modules via which trajectories for the heave compensation and for the operator control are calculated separate from each other,
• wherein the trajectories specified by the two separate path planning modules are added up and serve as setpoint values for control and/or regulation of the hoisting gear, wherein the control of the hoisting gear feeds back measured values to a position and/or velocity of a hoisting winch of the hoisting gear and/or takes account of dynamics of a drive of the hoisting winch.

A crane controller for a crane which includes a hoisting gear for lifting a load hanging on a cable, comprising:

• an active heave compensation which by actuating the hoisting gear at least partly compensates movement of a cable suspension point and/or a load deposition point due to heave;
• and
• an operator control which actuates the hoisting gear with reference to specifications of an operator, wherein the controller includes two separate path planning modules via which trajectories for the heave compensation and for the operator control are calculated separate from each other,
• wherein the heave compensation includes an optimization function which calculates a trajectory with reference to a predicted movement of the cable suspension point and/or the load deposition point and takes into account at least one kinematically constrained quantity available for the heave compensation, wherein the operator control calculates a trajectory with reference to specifications of the operator and takes into account at least one kinematically constrained quantity available for the operator control,
• wherein a division of the at least one kinematically constrained quantity is changed during a lifting operation,
• wherein the optimization function of the heave compensation initially includes a change in the division of the at least one kinematically constrained quantity of the hoisting gear and/or a change of an available at least one kinematically constrained quantity of the hoisting gear during lifting only at an end of a prediction horizon and then pushes the at least one kinematically constrained quantity to a beginning with progressing time,
• wherein the operator control calculates a velocity desired by the operator with reference to a signal specified by an operator through an input device, and
• wherein path planning of the operator control generates the trajectory by integration of a maximum admissible positive jerk, until a maximum acceleration is achieved, and thereupon is achieved by integration of the maximum acceleration, until the desired velocity can be achieved by adding a maximum negative jerk.