EP3408208B1 - Crane, and method for controlling such a crane - Google Patents

Description

The present invention relates to a crane in the form of a tower crane, with a load-handling device attached to a hoist rope, drive devices for moving several crane elements and methods of the load-handling device, a control device for controlling the drive devices in such a way that the load-handling device moves along a travel path, and a sway damping device for damping of pendulum movements of the load suspension device, said pendulum damping device having a control module for influencing the control of the drive devices as a function of pendulum-relevant criteria. The invention also relates to a method for controlling a crane, in which the control of the drive devices is influenced by a sway damping device as a function of parameters relevant to swaying.

From scripture DE 100 64 182 A1 and the writing EP 18 80 971 A2 Mobile harbor cranes are known in each case in which a sway damping device intervenes in the control of the drives in order to prevent the load hook from swinging. It is proposed that the bending and the luffing angular speed of the luffing boom be taken into account. The font DE 10 2011 001 112 A1 , which discloses the features of the preambles of claims 1 and 14, describes a tower crane with a pendulum damping device that calculates the natural frequency and the damping rate of the crane system to reduce vibrations in the crane structure and takes these into account when controlling the drives. Further cranes with sway control are from the script DE 43 15 005 A1 known.

In order to be able to move the load hook of a crane along a travel path or between two target points, various drive devices usually have to be actuated and controlled. In the case of a tower crane, in which the hoist rope runs off a trolley that can be moved on the boom of the crane, the slewing gear, by means of which the tower with the one on it, usually has to be provided boom or the boom are rotated relative to the tower about an upright axis of rotation, as well as the trolley drive, by means of which the trolley can be moved along the boom, and the hoist, by means of which the hoist rope can be adjusted and thus the load hook can be raised and lowered, each operated and controlled. The mentioned drive devices are usually operated and controlled by the crane operator using appropriate operating elements such as joysticks, toggle switches, rotary knobs and sliders and the like, which experience has shown requires a lot of feeling and experience in order to approach the target points quickly and yet gently without major pendulum movements of the load hook . While the aim is to drive as quickly as possible between the target points in order to achieve a high level of work performance, the aim is to stop gently at the respective target point without the load hook swinging with the load attached to it.

Such control of the drive equipment of a crane is tiring in view of the necessary concentration for the crane operator, especially since recurring travel paths and monotonous tasks have to be carried out, for example when a concrete bucket held on the crane hook is often placed between a concrete mixer, on which the concrete bucket is filled, during concreting. and a concrete area in which the concrete bucket is emptied must be moved back and forth. On the other hand, if concentration declines or if there is insufficient experience with the respective crane type, larger pendulum movements of the picked up load occur and thus a corresponding risk potential if the crane operator does not operate the crane's operating levers or elements sensitively enough.

In order to counteract the problem of undesirable pendulum movements, it has already been proposed to equip the control device of the crane with pendulum damping devices that intervene in the control by means of control modules and influence the control of the drive devices, for example excessive accelerations of a drive device due to excessive or excessive actuation of the operating lever prevent or weaken or certain travel speeds limit it for larger loads or intervene in the traversing movements in a similar way to prevent the load hook from swinging too much.

Such sway damping devices for cranes are known in various designs, for example by controlling the slewing gear, luffing and trolley drives as a function of certain sensor signals, for example inclination and / or gyroscope signals. For example, the scriptures show DE 20 2008 018 260 U1 or DE 10 2009 032 270 A1 known load sway damping systems on cranes, the subject matter of which is expressly referred to in this respect, i.e. with regard to the fundamentals of the sway damping device. In the DE 20 2008 018 206 U1 For example, the cable angle relative to the vertical and its change in the form of the cable angular speed is measured by means of a gyroscope unit in order to automatically intervene in the control when a limit value for the cable angular speed relative to the vertical is exceeded.

Furthermore, a load sway damping system for maritime cranes is known from the Liebherr company under the name "Cycoptronic", which calculates load movements and influences such as wind in advance and automatically initiates compensation movements on the basis of this pre-calculation in order to prevent the load from swinging. Specifically, in this system too, the cable angle relative to the vertical and its changes are recorded by means of gyroscopes in order to intervene in the control as a function of the gyroscope signals.

In the case of long, slim crane structures with an ambitious load-bearing design, as is the case in particular with tower cranes, it is sometimes difficult to intervene in the control of the drives in the right way with conventional pendulum-damping devices in order to achieve the desired, pendulum-damping effect. In this case, dynamic effects and elastic deformation of the structural parts occur in the area of the structural parts, in particular the tower, when a drive is accelerated or decelerated so that Interventions in the drive devices - for example braking or accelerating the trolley drive or the slewing gear - do not directly affect the pendulum movement of the load hook in the desired manner. On the one hand, dynamic effects in the structural parts can lead to time delays in the transmission to the hoist rope and the load hook when drives are actuated to dampen sway. On the other hand, the mentioned dynamic effects can also have excessive or even counterproductive effects on a load swing. If, for example, a load swings backwards towards the tower when the trolley drive is initially operated too quickly and the pendulum damping device counteracts this by decelerating the trolley drive, the boom may pitch because the tower is deformed accordingly, which impairs the desired sway dampening effect can be. Proceeding from this, the present invention is based on the object of creating an improved crane and an improved method for controlling it, avoiding the disadvantages of the prior art and further developing the latter in an advantageous manner. In particular, improved sway damping is to be achieved in tower cranes, which takes better account of the various influences of the crane structure.

According to the invention, the stated object is achieved by a crane according to claim 1 and a method according to claim 14. Preferred embodiments of the inventions are the subject of the dependent claims.

It is therefore proposed that the pendulum-damping measures not only take into account the actual pendulum movement of the rope itself, but also the dynamics of the steel structure of the crane and its drive trains. The crane is no longer assumed to be an immovable rigid body that converts drive movements of the drive devices directly and identically, ie 1: 1 into movements of the suspension point of the hoist rope. Instead, the sway dampening device regards the crane as a soft structure with elasticity and flexibility in its steel components, such as the tower lattice, and in the drive trains shows and takes into account these dynamics of the structural parts of the crane in the sway-damping influence on the control of the drive devices.

According to the invention, the pendulum damping device comprises determining means for determining dynamic deformations and movements of structural components under dynamic loads, the control module of the pendulum damping device, which influences the control of the drive device in a sway-damping manner, is designed to influence the control of the drive devices, the determined dynamic deformations of at least the tower and other structural components of the crane to be taken into account.

The pendulum damping device does not consider the crane or machine structure as a rigid, so to speak infinitely stiff structure, but assumes an elastically deformable and / or flexible and / or relatively soft structure that - in addition to the adjusting axes of movement of the machine such as the boom luffing axis or the Tower axis of rotation - allows movements and / or changes in position due to deformation of the structural components.

Taking into account the mobility of the machine structure as a result of structural deformations under load or dynamic loads is particularly important in the case of elongated, slender structures that are deliberately exhausted from the static and dynamic boundary conditions - taking into account the necessary safety factors - such as tower cranes, as here noticeable movement components, for example The boom and thus the load hook position are added by the deformation of the structural components. In order to better combat the causes of pendulum oscillation, the pendulum damping takes into account such deformations and movements of the machine structure under dynamic loads.

Considerable advantages can be achieved in this way:
First, the vibration dynamics of the structural components is reduced by the control behavior of the control device. The vibration is actively damped by the driving behavior or not even stimulated by the control behavior.

The steel construction is also spared and less stressed. In particular, shock loads are reduced by the control behavior.

This method can also be used to define the influence of driving behavior.

The knowledge of the structural dynamics and the control method can, in particular, reduce and dampen the pitching oscillation. As a result, the load behaves more calmly and no longer fluctuates up and down later in the rest position.

The aforementioned elastic deformations and movements of the structural components and drive trains and the resulting inherent movements can in principle be determined in various ways. In a further development of the invention, the said determination means can include an estimation device that determines the deformations and movements of the machine structure under dynamic loads that occur as a function of control commands entered at the control station and / or as a function of certain control actions of the drive devices and / or as a function of certain speed and / or result in acceleration profiles of the drive devices, taking into account the circumstances characterizing the crane structure.

Such an estimation device can, for example, access a data model in which structural parameters of the crane such as tower height, boom length, stiffness, area moments of inertia and the like are stored and / or linked to one another in order to then use a specific load situation, i.e. weight of the load picked up on the load hook and the current radius to estimate the dynamic effects, i.e. deformations in the steel construction and in the drive trains result for a specific actuation of a drive device. Depending on such an estimated dynamic effect, the pendulum damping device can then intervene in the control of the drive devices and influence the manipulated variables of the drive controllers of the drive devices in order to avoid or reduce pendulum movements of the load hook and the hoist rope.

In particular, the determination device for determining such structural deformations can have a calculation unit which calculates these structural deformations and the resulting structural part movements on the basis of a stored calculation model as a function of the control commands entered at the control station. Such a model can be constructed similarly to a finite element model or a finite element model, but advantageously a model that is significantly simplified compared to a finite element model is used which, for example, empirically by detecting structural deformations under certain control commands and / or load conditions on the real crane or the real machine can be determined. Such a calculation model can work, for example, with tables in which certain control commands are assigned certain deformations, with intermediate values of the control commands being able to be converted into corresponding deformations by means of an interpolation device.

As an alternative or in addition to estimating or calculating the elastic deformations and dynamic movements of the structural components, the pendulum damping device can also comprise a suitable sensor system, by means of which such elastic deformations and movements of structural components are detected under dynamic loads. Such a sensor system can include, for example, deformation sensors such as strain gauges on the steel structure of the crane, for example the lattice framework of the tower and / or the boom. Alternatively or additionally, acceleration and / or speed sensors can be provided in order to detect certain movements of structural components such as, for example, pitching movements of the boom tip and / or rotational dynamic effects to be recorded on the boom. Alternatively or additionally, inclination sensors or gyroscopes can also be provided, for example on the tower, in particular on its upper section on which the boom is mounted, in order to detect the dynamics of the tower. For example, jerky lifting movements lead to pitching movements of the boom, which are accompanied by bending movements of the tower, with post-swinging of the tower in turn leading to pitching vibrations of the boom, which is associated with corresponding load hook movements. As an alternative or in addition, motion and / or acceleration sensors can also be assigned to the drive trains in order to be able to detect the dynamics of the drive trains. For example, rotary encoders can be assigned to the pulleys of the trolley for the hoist rope and / or pulleys for a guy rope of a luffing jib in order to be able to detect the actual rope speed at the relevant point.

Advantageously, suitable movement and / or speed and / or acceleration sensors are also assigned to the drive devices themselves in order to be able to detect the drive movements of the drive devices accordingly and to be able to relate them to the estimated and / or recorded deformations of the structural components such as the steel structure and in the drive trains .

In particular, the pendulum damping device in a further development of the invention can comprise a filter device or an observer who observes the crane reactions that occur with certain manipulated variables of the drive controller and taking into account predetermined regularities of a dynamic model of the crane, which can be fundamentally different, and through analysis and simulation of the steel construction can be obtained, influences the manipulated variables of the controller based on the observed crane reactions.

Such a filter or observer device can in particular be designed in the form of a so-called Kalman filter, to which the manipulated variables of the drive controller of the crane and the crane movements, in particular the Load hook movement, in particular its pendulum movement, is supplied and which, from these input variables, uses Kalman equations that model the dynamic system of the crane structure, in particular its steel components and drive trains, to influence the control variables of the drive controller accordingly in order to achieve the desired sway dampening effect.

In particular, the position of the load hook, in particular also its oblique pull relative to the vertical, that is, the deflection of the hoist rope relative to the vertical, is detected by means of a suitable sensor system and fed to the aforementioned Kalman filter. The detection device for detecting the position of the load hook can advantageously comprise an imaging sensor system, for example a camera, which looks essentially vertically downward from the suspension point of the hoist rope, for example the trolley. An image evaluation device can identify the crane hook in the image provided by the imaging sensor system and determine its eccentricity or its displacement from the image center, which is a measure of the deflection of the crane hook relative to the vertical and thus characterizes the swaying of the load.

The position sensor system can advantageously be designed to detect the load relative to a fixed world coordinate system and / or the displacement control device can be designed to position the load relative to a fixed world coordinate system.

By detecting the load position, an inclined tension control can be implemented which eliminates or at least reduces static deformation caused by the attached load. In order to reduce vibration dynamics or prevent them from occurring in the first place, the pendulum damping device can be designed to correct the slewing gear and the trolley so that the rope is always perpendicular to the load as far as possible, even if the crane moves as a result of the increasing Load torque tends more and more forward. For example, when lifting a load from the ground, the crane's pitching motion as a result of its deformation under the load can be taken into account and the trolley under consideration the detected load position can be followed or positioned with predictive estimation of the pitching deformation so that the hoist rope is perpendicular to the load when the crane deformation occurs. The greatest static deformation occurs at the point where the load leaves the ground. Then diagonal tension control is no longer necessary. In a corresponding manner, alternatively or additionally, the slewing gear can be followed up and / or positioned with anticipatory estimation of a transverse deformation, taking into account the detected load position, so that the hoist rope is perpendicular to the load in the event of the resulting crane deformation.

Such a diagonal tension control can be reactivated at a later point in time by the operator, who can then use the crane as a manipulator. This means that the operator can only reposition the load by pushing and / or pulling. The diagonal tension control tries to follow the deflection caused by the operator. This enables manipulator control to be implemented.

The mentioned pendulum damping device can monitor the input commands of the crane operator when the crane is operated manually by operating appropriate control elements such as joysticks and the like and override them if necessary, in particular in the sense that accelerations that are too strong, for example, are reduced by the crane operator or counter movements are automatically initiated if a crane movement specified by the crane operator has or would lead to a swinging of the load hook.

As an alternative or in addition, the sway damping device can also be used for automated actuation of the crane, in which the control device of the crane automatically moves the crane's load suspension device between at least two target points along a travel path in the sense of an autopilot. In such an automatic mode, in which a travel path determination module of the control device determines a desired travel path, for example in the sense of a path control, and an automatic travel control module the control device controls the drive controller or drive devices in such a way that the load hook is moved along the specific travel path, the sway damping device can intervene in the activation of the drive controller by the mentioned movement control module in order to move the crane hook without swaying or to dampen swaying movements.

Fig. 1:

eine schematische Darstellung eines Turmdrehkrans, bei dem die Last-hakenposition und ein Seilwinkel gegenüber der Vertikalen durch eine bildgebende Sensorik erfasst wird, und bei dem eine Pendeldämpfungseinrichtung die Ansteuerung der Antriebseinrichtungen beeinflusst, um Pendelbewegungen des Lasthakens und dessen Hubseils zu verhindern,

Fig. 2:

eine schematische Darstellung eines Kalmanfilters der Pendeldämp-fungseinrichtung und die von diesem vorgenommene Beeinflussung der Stellgrößen der Antriebsregler,

Fig. 3:

eine schematische Darstellung von Verformungen und Schwingungsformen eines Turmdrehkrans unter Last und deren Dämpfung bzw. Ver-meidung durch eine Schrägzugregelung, wobei die Teilansicht a.) eine Nickverformung des Turmdehkrans unter Last und einen damit verknüpf-ten Schrägzug des Hubseils zeigt, die Teilansichten b.) und c.) eine Querverformung des Turmdrehkrans in perspektivischer Darstellung so-wie in Draufsicht von oben zeigen, und die Teilansichten d.) und e.) ei-nen mit solchen Querverformungen verknüpften Schrägzug des Hubseils zeigen.

The invention is explained in more detail below on the basis of a preferred exemplary embodiment and associated drawings. In the drawings show:

Fig. 1:

a schematic representation of a tower crane in which the load hook position and a rope angle relative to the vertical are recorded by an imaging sensor system, and in which a pendulum damping device influences the control of the drive devices in order to prevent pendulum movements of the load hook and its hoist rope,

Fig. 2:

a schematic representation of a Kalman filter of the pendulum damping device and the influencing of the manipulated variables of the drive controller,

Fig. 3:

a schematic representation of deformations and oscillation forms of a tower crane under load and their damping or avoidance by means of diagonal tension control, the partial view a.) showing a pitching deformation of the tower crane under load and an associated diagonal pull of the hoist rope, the partial views b. ) and c.) show a transverse deformation of the tower crane in a perspective representation as well as in a top view from above, and the partial views d.) and e.) show a diagonal pull of the hoist rope associated with such transverse deformations.

As Fig. 1 shows, the crane can be designed as a tower crane. The in Fig. 1 The tower crane shown can, for example, in a manner known per se, have a tower 201 which carries a boom 202 which is supported by a counter-jib 203 is balanced, on which a counterweight 204 is provided. Said boom 202 can be rotated together with the counter-boom 203 about an upright axis of rotation 205, which can be coaxial to the tower axis, by a rotating mechanism. A trolley 206 can be moved on the boom 202 by a trolley drive, with a hoisting rope 207 running from the trolley 206 to which a load hook 208 is attached.

As Fig. 1 also shows, the crane 2 can have an electronic control device 3, which can include, for example, a control computer arranged on the crane itself. The named control device 3 can control various actuators, hydraulic circuits, electric motors, drive devices and other working units on the respective construction machine. In the case of the crane shown, this can be, for example, its hoisting gear, its slewing gear, its trolley drive, its -ggf. existing - boom luffing drive or the like.

Said electronic control device 3 can communicate with a terminal 4, which can be arranged at the control station or in the driver's cab and can, for example, have the form of a tablet with a touchscreen and / or joysticks, rotary knobs, slide switches and similar control elements, so that on the one hand different Information from the control computer 3 is displayed on the terminal 4 and, conversely, control commands can be entered into the control device 3 via the terminal 4.

Said control device 3 of crane 1 can in particular be designed to control said drive devices of the hoist, trolley and slewing gear even when a pendulum damping device 340 detects pendulum-relevant movement parameters.

For this purpose, the crane 1 can have a detection device 60, which detects an oblique pull of the hoist rope 207 and / or deflections of the load hook 208 with respect to a vertical 61, which is caused by the suspension point of the load hook 208, ie, the trolley 206 is walking, detected. In particular, the cable pull angle ϕ can be detected against the line of action of gravity, ie the vertical 62, cf. Fig. 1 .

The determination means 62 of the detection device 60 provided for this purpose can work optically, for example, in order to determine the said deflection. In particular, a camera 63 or another imaging sensor system can be attached to the trolley 206, which looks vertically downward from the trolley 206 so that when the load hook 208 is undeflected, its image reproduction is in the center of the image provided by the camera 63. If, however, the load hook 208 is deflected relative to the vertical 61, for example by jerking the trolley 206 or suddenly braking the slewing gear, the image reproduction of the load hook 208 moves out of the center of the camera image, which can be determined by an image evaluation device 64.

Depending on the detected deflection relative to the vertical 61, in particular taking into account the direction and size of the deflection, the control device 3 can control the slewing gear drive and the trolley drive with the aid of the pendulum damping device 340 in order to bring the trolley 206 more or less precisely over the load hook 208 again and to compensate for pendulum movements, or to reduce them or not to allow them to occur in the first place.

For this purpose, the sway damping device 430 comprises determination means 342 for determining dynamic deformations of structural components, the control module 341 of the sway damping device 340, which influences the control of the drive device in a sway-damping manner, is designed to apply the determined dynamic deformations of the structural components of the crane when influencing the control of the drive devices consider.

The determination means 342 can include an estimation device 343 that determines the deformations and movements of the machine structure under dynamic loads that are dependent on control commands entered at the control station and / or dependent on certain control actions of the drive devices and / or are estimated as a function of certain speed and / or acceleration profiles of the drive devices, taking into account conditions characterizing the crane structure. In particular, a calculation unit 348 can calculate the structural deformations and the resulting structural part movements on the basis of a stored calculation model as a function of the control commands entered at the control station.

As an alternative or in addition, the sway damping device 340 can also include a suitable sensor system 344, by means of which such elastic deformations and movements of structural components are detected under dynamic loads. Such a sensor system 344 can include, for example, deformation sensors such as strain gauges on the steel structure of the crane, for example the lattice frameworks of the tower 201 or of the boom 202. Alternatively or additionally, acceleration and / or speed sensors can be provided in order to detect certain movements of structural components such as, for example, pitching movements of the boom tip or rotational dynamic effects on boom 202. As an alternative or in addition, inclination sensors or gyroscopes can also be provided, for example, on the tower 201, in particular on its upper section on which the boom is mounted, in order to detect the dynamics of the tower 201. As an alternative or in addition, motion and / or acceleration sensors can also be assigned to the drive trains in order to be able to detect the dynamics of the drive trains. For example, rotary encoders can be assigned to the pulleys of the trolley 206 for the hoist rope and / or pulleys for a guy rope of a luffing jib in order to be able to detect the actual rope speed at the relevant point.

As Fig. 2 shows, pendulum damping device 340 has a filter device or an observer 345, which observes the crane reactions that occur with certain manipulated variables of the drive controller 347 and taking into account predetermined regularities of a dynamic model of the crane, which can be fundamentally different and through analysis and simulation of the Steel construction can be obtained, influences the manipulated variables of the controller on the basis of the observed crane reactions.

Such a filter or observer device 345b can be designed in particular in the form of a so-called Kalman filter 346, to which the manipulated variables of the drive controller 347 of the crane and the crane movements, in particular the cable angle ϕ relative to the vertical 62 and / or its change over time or the Angular velocity of the mentioned diagonal pull, and which from these input variables using Kaiman equations, which model the dynamic system of the crane structure, in particular its steel components and drive trains, influences the manipulated variables of the drive controller 347 accordingly in order to achieve the desired sway-damping effect.

With the help of such a diagonal tension control, deformations and forms of oscillation of the tower crane in particular can be dampened under load or avoided from the start, as shown in Fig. 3 are shown by way of example, the partial view a.) initially showing schematically a pitching deformation of the tower extension crane under load as a result of bending of the tower 201 with the associated lowering of the boom 202 and an associated diagonal pull of the hoist rope.

Furthermore, the partial views show b.) And c.) Of Fig. 3 for example, in a schematic manner, a transverse deformation of the tower crane in a perspective illustration and in a plan view from above with the deformations of the tower 201 and the boom 202 occurring in the process.

Finally shows the Fig. 3 in their partial views d.) and e.) an inclined pull of the hoist rope associated with such transverse deformations.

In order to counteract the corresponding vibration dynamics, the sway damping device 430 can include a diagonal tension control. In particular, the position of the load hook 208, in particular also its oblique pull relative to the vertical, that is to say the deflection, is determined by means of the determination means 62 of the hoist rope 207 detected relative to the vertical and fed to the aforementioned Kalman filter 346.

The position sensor system can advantageously be designed to detect the load or the load hook 208 relative to a fixed world coordinate system and / or the sway damping device 430 can be designed to position the load relative to a fixed world coordinate system.

By detecting the load position, an inclined tension control can be implemented which eliminates or at least reduces static deformation caused by the attached load. In order to reduce vibration dynamics or prevent them from occurring in the first place, the pendulum damping device 430 can be designed to correct the slewing gear and the trolley so that the rope is always perpendicular to the load, even if the crane moves through the increasing load torque tends more and more forward.

For example, when lifting a load from the ground, the crane's pitching motion as a result of its deformation under the load can be taken into account and the trolley, taking into account the detected load position, can be tracked or positioned with a predictive estimation of the pitching deformation so that the hoist rope is vertical when the crane is deformed Perpendicular to the load. The greatest static deformation occurs at the point where the load leaves the ground. Then diagonal tension control is no longer necessary. In a corresponding manner, alternatively or additionally, the slewing gear can be followed up and / or positioned with anticipatory assessment of a transverse deformation, taking into account the detected load position, so that the hoist rope is perpendicular above the load in the event of the resulting crane deformation.

Such a diagonal tension control can be reactivated at a later point in time by the operator, who can then use the crane as a manipulator. This means that the operator can only reposition the load by pushing and / or pulling. The diagonal tension control tries to follow the deflection caused by the operator. A manipulator control can thereby be implemented.

Claims (15)

1. Tower crane with a tower (201) that supports a boom (202), on which a trolley is displaceable, from which trolley a hoist rope (207) is unwound, a load suspension means (208) attached to the hoist rope (207), drive devices for moving a plurality of crane elements and for traveling the load suspension means (208), a control apparatus (3) for controlling the drive devices such that the load suspension means (208) travels along a travel path, as well as an oscillation damping device (340) for damping oscillation movements of the load suspension means (208) and/or of the hoist rope (207), wherein the oscillation damping device (340) comprises a control module (341) for influencing the control of the drive devices in dependence on oscillation-relevant parameters, characterized in that the oscillation damping device (340) comprises determination means (342) for determining deformations of the tower (201) and further structural elements of the crane as a result of dynamic loads, wherein the control module (341) of the oscillating damping device (340) is configured to take account of the determined deformations of the tower and of further structural elements as a result of dynamic loads on the influencing of the control of the drive devices.
2. Tower crane in accordance with the preceding claim, wherein the structural elements comprise a boom (202), and the determination means (342) are configured to determine deformations and/or loads of the tower (201) and/or of the boom (202) as a result of dynamic loads.
3. Tower crane in accordance with one of the two preceding claims, wherein the structural elements comprise drivetrain parts such as slewing gear parts, trolley drive parts, and the like, and the determination means (342) are configured to determine deformations and/or movements of the drivetrain parts as a result of dynamic loads.
4. Tower crane in accordance with one of the preceding claims, wherein the determination means (342) comprise an estimation device (343) for estimating the deformations and/or movements of the structural components as a result of dynamic loads on the basis of digital data of a data model describing the crane structure.
5. Tower crane in accordance with one of the preceding claims, wherein the determination means (342) comprise a calculation unit (348) that calculates structural deformations and movements of the structural parts resulting therefrom on the basis of a stored calculation model in dependence on control commands input at the control station.
6. Tower crane in accordance with one of the preceding claims, wherein the determination means (342) comprise a sensor system (344) for detecting deformations and/or dynamic parameters of the structural elements.
7. Tower crane in accordance with the preceding claim, wherein the sensor system (344) comprises an inclination sensor and/or acceleration sensor for detecting tower inclinations and/or tower speeds; a rotational speed sensor and/or rotational acceleration sensor for detecting the rotational speed and/or rotational acceleration of a boom; and/or a pitching movement sensor for detecting pitching movements and/or pitching accelerations of the boom; and/or a rope speed sensor and/or rope acceleration sensor for detecting rope speeds and/or rope accelerations of the hoist rope (207).
8. Tower crane in accordance with one of the preceding claims, wherein a detection device (60) for detecting a deflection (ϕ) of the hoist rope (207) and/or of the load suspension means (208) with respect to a vertical (61) is provided, wherein the control module (341) of the oscillation damping device (340) is configured to influence the control of the drive devices in dependence on the determined deflection of the hoist rope (207) and/or of the load suspension means (208) with respect to the vertical (61).
9. Tower crane in accordance with the preceding claim, wherein the detection device (60) comprises an imaging sensor system, in particular a camera (62) that looks substantially straight down in the region of a suspension point of the hoist rope (207), in particular of a trolley (206), wherein an image evaluation device (64) is provided for evaluating an image provided by the imaging sensor system with respect to the position of the load suspension means (208) in the provided image and for determining the deflection (ϕ) of the load suspension means (208) and/or of the hoist rope (207) and/or of the deflection speed with respect to the vertical (61).
10. Tower crane in accordance with one of the preceding claims, wherein the oscillation damping device (340) comprises a filter device and/or observation device (345) for influencing the adjustment values of drive regulators (347) for controlling the drive devices, wherein the said filter device and/or observer device (345) is configured to obtain the adjustment values of the driver regulators (347) and the detected and/or estimated movements of crane elements and/or deformations and/or movements of structural elements that occur as a result of dynamic loads as input values and to influence the regulator adjustment values in dependence on the dynamically induced movements of crane elements and/or deformations of structural elements obtained for specific regulator adjustment values.
11. Tower crane in accordance with the preceding claim, wherein the filter device and/or observer device (345) is configured as a Kalman filter (346), wherein detected and/or estimated and/or calculated and/or simulated functions that characterize the dynamics of the structural elements of the crane are implemented in the Kalman filter (346).
12. Tower crane in accordance with one of the preceding claims, wherein the oscillation damping device (340) comprises a position sensor system that is configured to detect the load suspension means (208) relative to a fixed global coordinate system and/or is configured to position the load suspension means (208) relative to a fixed global coordinate system.
13. Tower crane in accordance with one of the preceding claims, wherein the oscillation damping device (340) comprises an oblique pull regulator and is configured to actuate the drive devices for moving the crane elements and for traveling the load suspension means (208) such that the hoist rope (207), where possible, is always perpendicular to the load, even if the crane deforms more and more due to the increasing load torque and/or due to increasing transverse forces and/or increasing transverse twisting torques.
14. Method of controlling a tower crane, whose load suspension means (208) attached to a hoist rope (207) is traveled by drive devices, which drive devices are controlled by a control apparatus (3) of the crane, wherein the control of the drive devices is influenced by an oscillation damping device (340) in dependence on oscillation-relevant parameters, characterized in that the oscillation damping device (340) determines deformations of the tower (201) and of further structural elements of the crane that occur as a result of dynamic loads and takes them into account on the influencing of the control of the drive devices.
15. Method in accordance with the preceding claim, wherein the oscillation damping device (340) comprises a Kalman filter (346) to which the adjustment values of drive regulators (347) are supplied as input values for controlling the drive devices and crane movements and/or deformations and/or dynamically induced movements of the structural parts adopted with these adjustment values are supplied as input values, with the Kalman filter (346) performing an influencing of the adjustment values of the drive regulators (347) in dependence on said input values.

Images