Method for controlling the orientation of a crane load

摘要

A method for controlling the orientation of a crane load is described, wherein a manipulator 416 for manipulating the load is connected by a rotator unit to a hook suspended on ropes 410 and the rotational angle phi_L of the load is controlled by a control unit using the moment of inertia J_L of the load as most important parameter. The control unit is an adaptive control unit wherein the moment of inertia J_L of the load is identified during operation of the crane based on data obtained by measuring the state of the system.