阅读说明：本技术 起重机及其控制方法 (Crane and control method thereof ) 是由 弗洛朗坦·劳舍尔 奥利弗·萨沃德涅 萨缪尔·纳恩 于 2019-06-13 设计创作，主要内容包括：本发明涉及一种起重机,特别是塔式起重机或桥式起重机,以及一种用于控制这种起重机的方法,该起重机具有：提升绳索(207),其从起重机吊臂(202)延伸并且承载有货物承载装置(208)；驱动装置,其用于移动多个起重机元件和货物承载装置(208)；控制装置(3),其用于控制驱动装置使得货物承载装置(208)沿行进路径移动；以及摆动阻尼装置(340),其用于抑制货物承载装置(208)和/或提升绳索(207)的摆动运动,其中,摆动阻尼装置(340)具有摆动传感器(60)和控制器模块(341),该摆动传感器用于检测和/或估计提升绳索(207)和/或货物承载装置(208)相对于竖直方向(61)的偏移运动,该控制器模块具有根据所确定的偏移来影响驱动装置的控制的闭环控制回路。根据本发明,传感装置(60)具有：惯性测量单元(IMU),其被安装到货物承载装置(208)上并具有用于提供加速度和旋转速率信号的加速度和旋转速率传感装置；第一确定装置(401),其用于根据惯性测量单元(IMU)的加速度和旋转速率信号来确定和/或估计货物承载装置(208)的倾斜度；以及第二确定装置(410),其用于根据所确定的货物承载装置(208)的倾斜度和货物承载装置(208)的惯性加速度来确定提升绳索(207)和/或货物承载装置(208)相对于竖直方向(61)偏移。(The invention relates to a crane, in particular a tower crane or a bridge crane, and to a method for controlling such a crane, having: a hoisting rope (207) extending from the crane boom (202) and carrying a load carrying device (208); a drive arrangement for moving the plurality of crane elements and the load carrying device (208); a control device (3) for controlling the drive device such that the load carrying device (208) moves along the path of travel; and a sway damping device (340) for damping sway motions of the load carrying device (208) and/or the lifting rope (207), wherein the sway damping device (340) has a sway sensor (60) for detecting and/or estimating an offset motion of the lifting rope (207) and/or the load carrying device (208) with respect to the vertical direction (61) and a controller module (341) having a closed loop control loop influencing the control of the drive device depending on the determined offset. According to the invention, the sensor device (60) comprises: an Inertial Measurement Unit (IMU) mounted to the cargo carrying device (208) and having acceleration and rotation rate sensing means for providing acceleration and rotation rate signals; a first determination device (401) for determining and/or estimating an inclination of the cargo-carrying device (208) from the acceleration and rotation rate signals of the Inertial Measurement Unit (IMU); and a second determination device (410) for determining an offset of the hoisting rope (207) and/or the load carrying device (208) with respect to the vertical direction (61) from the determined inclination of the load carrying device (208) and the inertial acceleration of the load carrying device (208).)