Hoisting device such as a crane, and method and device for controlling such a hoisting device

Abstract

The invention relates to a method for controlling a lifting device such as a crane or cable excavator, in which a load-handling device is suspended from a boom in the manner of a pendulum via a hoist rope and the boom and / or a trolley movable on the boom is moved by means of at least one drive device, wherein a target speed signal for the at least one drive device is specified for moving the load-handling device, wherein the natural frequency of the pendulum is filtered out of the specified target speed signal by means of a filter and the filtered target speed signal is used to control the at least one drive device.

Description

[0001] The present invention generally relates to lifting devices such as cranes or cable excavators in which a load-handling device is suspended from a boom in the manner of a pendulum via a hoist rope so as to be raised and lowered. In order to move the load-handling device to a desired position, the boom and / or a trolley movable on the boom, from which the hoist rope runs, is moved by means of at least one drive device, wherein a desired speed signal is specified for the at least one drive device. The invention particularly relates to a method and a device for controlling such a crane or cable excavator, in which the desired speed signal specified for the at least one drive device is subjected to a pendulum-damping influence.

[0002] In order to move the load hook of a crane along a travel path or between two target points, various drive devices must usually be operated and controlled. For example, in a tower crane, where the hoist rope runs from a trolley that can be moved along the crane's boom, the slewing gear, which rotates the tower with its attached boom or the boom relative to the tower around an upright axis, as well as the trolley drive, which moves the trolley along the boom, and the hoist, which adjusts the hoist rope and thus raises and lowers the load hook, must each be operated and controlled.The aforementioned drive systems are typically operated and controlled by the crane operator using appropriate controls such as joysticks, toggle switches, rotary knobs, and sliders, among others. Experience has shown that this requires considerable sensitivity and experience to reach the target points quickly yet smoothly without significant swinging of the load hook. While the crane should travel as quickly as possible between target points to achieve high performance, it should stop smoothly at each target point without causing the load hook and its attached load to swing.

[0003] Similarly, the load hook of other crane types such as telescopic boom cranes or luffing jib cranes, where the load hook movement is generated not only by twisting the superstructure but also by luffing the boom up and down and, if necessary, by telescoping and extending, or the grab of a rope excavator, tends to swing, which should be avoided wherever possible.

[0004] In general, the aforementioned pendulum problem occurs with lifting devices whose load handling devices are suspended from a boom via long hoist ropes in a pendulum manner, which boom is itself adjusted or has an adjustable hoist rope stop like a trolley to move the load handling device.

[0005] Controlling the drive systems of a crane or hoist in this way is tiring for the crane operator, given the concentration required, especially since repetitive travel paths and monotonous tasks often have to be performed. For example, when concreting, a concrete bucket suspended from the crane hook must be repeatedly moved back and forth between a concrete mixer where the concrete bucket is filled and a concrete area where the concrete bucket is emptied. Furthermore, waning concentration or insufficient experience with the particular crane type can lead to significant swinging movements of the load, creating a corresponding hazard potential if the crane operator does not operate the crane's control levers or elements with sufficient sensitivity.

[0006] In order to counteract the problem of undesired swaying movements, it has already been proposed to equip the crane's control device with sway damping devices which intervene in the control system by means of control modules and influence the control of the drive devices, for example preventing or mitigating excessive acceleration of a drive device caused by actuating the control lever too quickly or too forcefully, or limiting certain travel speeds for larger loads, or intervening in a similar way in the travel movements in order to prevent excessive swaying of the load hook.

[0007] Such sway control devices for cranes are known in various designs, for example, by controlling the slewing gear, luffing jib, and trolley drives depending on specific sensor signals, such as inclination and / or gyroscope signals. For example, the documents DE 20 2008 018 260 U1 and DE 10 2009 032 270 A1 describe known load sway control devices on cranes, to whose subject matter, i.e., with regard to the principles of the sway control device, explicit reference is made. In DE 20 2008 018 206 U1, for example, the rope angle relative to the vertical and its change in the form of the rope angular velocity are measured using a gyroscope unit in order to automatically intervene in the control system if a limit value for the rope angular velocity relative to the vertical is exceeded.

[0008] Furthermore, Liebherr offers a load sway control system for maritime cranes called "Cycoptronic." This system calculates load movements and influences such as wind in advance and, based on this prediction, automatically initiates compensatory movements to prevent load swaying. Specifically, this system also uses gyroscopes to detect the rope angle relative to the vertical and its changes, allowing it to intervene in the control system based on the gyroscope signals.

[0009] In general, control systems designed to eliminate or at least dampen the sway of the load-handling device require more or less complex sensor technology to detect the swaying movements and derive countermeasures from the detected swaying movements. For example, documents WO 2017 / 178106 A1 and WO 2020 / 001991 A1 propose attaching so-called IMUs (inertial measurement units) to the load hook or the load attached to it in order to infer the swaying movement from the IMU signal. Other sway-damping systems use gyroscopes or optical sensors to track the swaying movements of the load hook.

[0010] On the other hand, it has also been proposed to use so-called input shapers to influence or correct the control signal of the drive devices in order to avoid critical signal components of the control signal with regard to the generation of swaying movements. For example, the paper "Anti-sway control of a tower crane using inverse dynamics" by El-Badavi, AA and Shehata, MMG, published at www.researchgate.net / publication / 277707023, describes such an input shaper that aims to prevent swaying movements in a tower crane by convolving the setpoint signal of a position control with a suitable pulse sequence. However, such an input shaper operates relatively slowly, since the convolution is performed with a pulse sequence of a length on the order of the oscillation period. For example, considering a pendulum with a drop depth of 10 meters and an oscillation period of approximately 6.3 seconds, the target signal only appears after 6.3 seconds.In addition, the implementation of such an input shaper is quite complex, since the convolution of two signals must be carried out over the oscillation period - i.e. in the above example approximately 6.3 seconds - which leads to the storage of 254 sampled values at a sampling rate of, for example, 25 milliseconds.

[0011] The present invention is therefore based on the object of creating an improved hoist of the type mentioned, as well as improved methods and devices for controlling it, which avoid the disadvantages of the prior art and advantageously develop the latter. In particular, a fast and dynamically responsive control system is to be created without complex sensor technology, which effectively dampens or prevents oscillations.

[0012] According to the invention, the stated object is achieved by a method according to claim 1, a device according to claim 6 and a lifting device according to claim 14. Preferred embodiments of the invention are the subject of the dependent claims.

[0013] It is therefore proposed to subject the target speed signal specified for the at least one drive device for moving the load-handling device to a filtering process that filters out the natural frequency of the pendulum from the target value signal, and to use a suitable filter device for this purpose. According to the invention, the natural frequency of the pendulum is filtered out of the specified target speed signal using a filter tuned to the natural frequency of the pendulum surrounding the raising and lowering hoist rope, and the thus filtered target speed signal is used to control the drive device.

[0014] Compared to the known input shapers, the use of such a frequency filter is significantly more dynamic and the response of the pendulum damping measure is significantly more efficient, especially at large sinking depths where conventional input shapers have long response times.

[0015] The target speed signal, which is subjected to the aforementioned frequency filtering, can be specified by a machine operator in a conventional manner, for example, by operating a joystick, as is commonly used in crane or cable excavator operator's cabs for operating and controlling the drives, or by using a slide or rotary control, or other input devices. Alternatively or additionally, the target speed signal can also be specified automatically by a control module, such as a path or target controller, and then filtered in the aforementioned manner.

[0016] In a further development of the invention, the predetermined target speed signal can be processed by an acceleration-limiting ramp former or generator in addition to the frequency filtering in order to avoid excessive accelerations of the translatory movement of the load-handling device or to limit the accelerations implied by the target speed signal, for example as a result of excessively violent or too fast joystick movements.

[0017] Such a ramp generator or rate limiter module can process and convert the manually or semi-automatically specified target speed signal before the target speed signal, limited in terms of acceleration or processed by the ramp generator module, is then subjected to the aforementioned frequency filtering. Alternatively or additionally, it might also be possible to place such a ramp generator module downstream of the filter and further limit the acceleration of the already filtered signal. However, the ramp generator is logically placed upstream of the frequency filter.

[0018] In an alternative development of the invention, however, it is also possible to dispense with such acceleration-limiting processing of the target speed signal and to subject the predetermined target speed signal directly to filtering without prior processing by a ramp generator.

[0019] Advantageously, a parameterizable and / or adjustable filter is used for frequency filtering. The filter is adjusted continuously or cyclically during crane or crawler crane operation with respect to a frequency band to be filtered, depending on the lowering depth of the hoist rope or load-handling device. Depending on how far the load-handling device is lowered from the boom, a different frequency band is filtered out of the specified target speed signal. The frequency band is preferably adjusted depending on the respective lowering depth so that it captures the natural frequency of the pendulum.

[0020] The respective lowering depth of the load handling device or the hoist rope can be determined in various ways, for example by detecting the position of the hoist or hoist drive and / or by a sensor that detects the unwound rope length or the distance of the load handling device from the boom.

[0021] In a further development of the invention, the control device can manage with only one sinking depth detection device and can dispense with more extensive sensors, as is required in other pendulum damping devices, although further sensors can nevertheless be provided in addition to the sinking depth sensor, in particular in order to achieve a more complex determination of the natural frequency to be filtered out.

[0022] To determine the natural frequency or the frequency band to be filtered out, the natural frequency of the pendulum can be determined from the sinking depth, assuming a mathematical pendulum. Since the loads hanging from the load hook or the filled excavator grab are very heavy compared to the weight of the hoist rope and the load-handling device, using a mathematical pendulum model can achieve sufficient accuracy in determining the natural frequency. Taking a certain bandwidth of the filter band into account, certain inaccuracies or shifts in the natural frequency compared to the mathematical pendulum can also be accounted for.

[0023] If we consider a swinging thread pendulum, the oscillating motion is known to be described by the two coupled differential equations φ ˙ = ω , ω ˙ = − g l sin φ . where ω is the angular velocity, g is the acceleration due to gravity, I is the sinking depth or thread length and φ is the angle of deflection from the vertical. Since pendulum movements on cranes, cable excavators or similar lifting devices regularly only result in small angles of deflection φ, the above term sin φ ≈ φ . be assumed so that the natural frequency of the pendulum, assuming a mathematical pendulum, is determined from the lowering depth I of the load-carrying device or the hoist rope according to the relationship ω 0 = g l can be determined, where ω 0 is the natural frequency.

[0024] In principle, however, it is also possible to use more complex models than the mathematical pendulum to determine the natural frequency, whereby in such more complex models, in particular the hoist rope mass and / or damping and / or, if applicable, the length of a load suspension device with which the load is attached to the load-carrying device can be taken into account.

[0025] In order to correct the influence of the length of a lifting device such as a chain sling or a load body with a large extent, which can shift the center of mass significantly below the load handling device, a mathematical model can still be used and the lowering depth can be corrected accordingly, whereby, for example, the sensor-detected lowering depth of the hoist rope or the load handling device can be supplemented or corrected by a correction value, which can be entered manually via an input device, for example at the machine operator's station, or can be determined by an additional sensor that can record the length of the lifting device and / or the extent of the load.

[0026] For example, in order to correct the sensor-detected lowering depth value, a lifting device used in each case, such as a chain sling, can also be automatically detected, for example by reading a transponder attached to the lifting device when the lifting device is attached to the load hook, in order to automatically provide the length of the lifting device or the resulting distance from the load-carrying device to the control device.

[0027] In a further development of the invention, a notch filter is used to filter the specified target speed signal. Such a notch filter is easy to implement and parameterize. In particular, the filter's bandwidth can be controlled or adjusted via the adjustable filter quality of the notch filter, which can influence the robustness of the method. A larger bandwidth leads to better robustness, albeit with somewhat reduced dynamic range.

[0028] In principle, however, other filters can also be used, which preferably provide narrow-band filtering of the natural frequency.

[0029] In a further development of the invention, the filter can be switched off, or the natural frequency filtering can be deactivated. Because the natural frequency is filtered out of the control signal, an existing vibration can usually no longer be eliminated. To eliminate such existing vibrations or oscillating movements, it is helpful to provide a quick and easy way to switch the natural frequency filter function on and off, allowing the machine operator to counteract movement requests without impairing the dynamics of such countermeasures due to the filtering.

[0030] In an advantageous development of the invention, a switch-off device for switching off the frequency filtering can be provided on the control station or on the control device, such as a remote control, which can comprise input means, for example in the form of a manual button and / or a detection device for detecting a switch-off request, for example in the form of an on / off switch integrated into the joystick, for example in the form of a push button attached to the joystick.

[0031] Alternatively or additionally, it may also be advantageous to provide a gesture detection device as the detection device for detecting the switch-off request, which can detect a switch-off request given by gesture, for example in the form of a hand movement that is detected by the gesture detection device.

[0032] For example, such a gesture detection device can detect countermovement requests on the joystick in order to deactivate the filter function when such a countermovement is entered on the joystick. Such a countermovement is a reversal of the joystick from positive to negative deflection, or vice versa. Such a countermovement can be detected or interpreted as an intuitive gesture by the machine operator, since countermovement intuitively attempts to achieve a faster stopping of the drive system, which can then actually be achieved by deactivating the filter.

[0033] For example, the gesture detection device may comprise a motion sensor associated with the input means for the target speed signal, which is designed to detect countering input commands that reverse the direction of movement of the drive device and to provide a signal on the basis of which the control device then switches off the filter device or suspends the filtering.

[0034] The invention is explained in more detail below using a preferred embodiment and associated drawings. In the drawings show: Fig. 1: a perspective view of a tower crane, on the boom of which a movable trolley is provided, from which a hoist rope runs to a load-carrying device in the form of a load hook, Fig. 2: a schematic view of the control device for controlling the crane from Fig. 1, wherein the control device has a frequency filter for filtering the target speed signal, the filter band of which can be adjusted depending on the natural frequency of the pendulum formed by the hoist rope and the load attached to it, Fig. 3: two simulation diagrams which show the course of various system states of the crane, in particular the adjustment path, the acceleration, the deflection angle and the angular acceleration, over time when the load hook is moved, wherein partial view a shows the signal curves without natural frequency filtering and partial view b shows the signal curves with frequency filtering, and Fig. 4: a diagram which shows the angular deflection and the oscillation amplitude over frequency.

[0035] How Fig. 1As shown, a crane 1 can be provided as the lifting device, which can be designed in the form of a tower crane. The crane 1 has a boom 3, which is arranged on a tower 2 or, if applicable, a superstructure and can be rotated about an upright axis 5 by a slewing gear 6. The boom 3 can be guyed, for example, to a counter-jib 4, which can carry a ballast weight.

[0036] The boom 3 can extend horizontally, but can also be tilted up and down using a luffing mechanism.

[0037] A hoist rope 7 extends from the boom 3, to which a load-handling device 8, for example in the form of a load hook, is hinged, for example, via a pulley block. The hoist rope 7 can extend from a trolley 9, which is movably mounted on the boom 3 and can be moved along the boom 3 by a trolley drive 10.

[0038] A control station 11, which can be arranged on the tower 2, can have input means such as joysticks, slide or rotary switches, a touchscreen or other input means in a manner known per se in order to be able to enter control commands for the drive devices of the crane 1, in particular target speed signals for the trolley drive 10, the slewing gear drive 6 and the hoist drive for the hoist rope 7 and, if applicable, for a luffing drive for luffing the boom 3 up and down and / or a telescoping drive for telescoping the boom 3 in and out. Instead of a control station 11 provided on the crane 1 or in addition to this, the crane 1 can, if applicable, also be operated from a remote control, which can have corresponding input means for entering control commands.

[0039] The target speed signals mentioned above, in the form of a desired speed, can be entered manually by the crane operator, for example, by tilting or adjusting joysticks. Automated or semi-automated control modules can also be provided if necessary, allowing, for example, the crane to approach a specific point or travel a specific route.

[0040] How Fig. 2 shows, a predetermined target speed signal, which is intended to actuate one or more of the said drive devices and to move the load hook in a translational manner, is processed by a control device 12 or subjected to signal processing before the target speed signal is actually sent to the drive device for control.

[0041] The specified target speed signal, input, for example, via a joystick, can first be fed to a ramp generator 13 or a rate limiter module to limit the acceleration of the translatory movement of the load hook, or can be processed by such a ramp generator 13. In particular, said ramp generator 13 can limit the target speed signal with regard to its gradient and / or flatten the ramp-shaped target speed signal in order to limit and / or reduce the accelerations generated during the translatory movement of the load hook. However, such signal processing by a ramp generator 13 is not mandatory in every case. In principle, the ramp generator 13 could be omitted entirely, and / or a prefilter could be provided to prefilter the target speed signal.For example, a low-pass filter, particularly of the first order, could be provided for pre-filtering the specified target speed signal v_soll.

[0042] How Figure 2 As shown in Figure 1, the target speed signal v_soll_lim, which has been preprocessed by the ramp generator 13 and limited in particular with regard to acceleration, is fed to a filter 14 to cancel the pendulum's natural frequency in the target speed signal. Alternatively, if the ramp generator 13 is omitted, the specified target speed signal v_soll or the possibly low-pass filtered signal can also be fed directly to the filter 14 to be filtered with regard to the natural frequency.

[0043] The filter 14 can advantageously be or comprise a narrowband filter and / or a notch filter, wherein the filter 14 is designed to filter out the natural frequency of the pendulum from the supplied target speed signal. The use of the notch filter is particularly advantageous in terms of simple implementation and parameterization, whereby the bandwidth of the filter 14 can be controlled via the filter quality, thus achieving greater robustness of the method. A larger filter bandwidth leads to better robustness, albeit with reduced dynamics.

[0044] Said filter 14 is adjustable with regard to its filter band, wherein the filter band can in particular be shifted into different frequency ranges and / or changed with regard to its filter bandwidth.

[0045] The filter 14 is advantageously set or adjusted with regard to the frequency band to be filtered continuously or cyclically during crane operation - i.e. advantageously online - depending at least on the lowering depth of the load hook.

[0046] In particular, the filter 14 can be adjusted with regard to its filter band as a function of a calculated or a specific natural frequency of the pendulum formed by the hoist rope 7, the load-handling device 8 and the load attached thereto, wherein the said natural frequency of the pendulum can be determined or calculated at least as a function of the lowering depth of the load-handling device.

[0047] To determine the natural frequency, a simple model can be assumed: a mathematical pendulum, which is assumed to be a point mass and completely undamped. Since the weight of the attached load is usually much greater than the weight of the hoist rope and load hook, the weight of the hoist rope can be neglected. On the other hand, more complex pendulum models can also be used to determine the natural frequency, which can take into account, for example, the mass of the hoist rope, damping, or possibly even the length of a chain sling or other lifting device. Such a chain sling or lifting device with a corresponding spacing of the load from the load hook, as well as a load body with a greater extent that shifts the center of mass downwards, can influence the pendulum model.When determining the natural frequency, only the lowering depth of the load hook can lead to errors, so that the sensor-detected lowering depth of the load hook can be corrected accordingly, as already explained at the beginning.

[0048] In particular, the control device 12 can have an input means for entering a correction value for the lowering depth. For example, an estimated distance of the load center of gravity from the load hook can be entered manually, or a read-in module can be provided for reading the length of the lifting device or the type of lifting device.

[0049] The natural frequency of the pendulum changes depending on the lowering depth of the load-handling device 8, i.e., the distance of the load-handling device 8 from the boom 3, since the hoist rope 7 is continuously lowered or retracted repeatedly or multiple times. To adapt the filter 14 to the respective natural frequency of the pendulum, the filter band of the filter 14 is continuously or cyclically adjusted during crane operation depending on the lowering depth I and, if necessary, a correction value.

[0050] The lowering depth I can be detected or determined by a detection device 15, wherein the detection device 15 can, for example, be assigned to the hoist drive for the hoist rope 7. The lowering depth I can be determined from the known length of the hoist rope 7 and the respective position of the hoist drum. In principle, however, the lowering depth I can also be determined by another sensor or other determining means, for example, a distance sensor on the trolley 9 or a rope length meter.

[0051] The control device 12 can operate without additional sensors, although additional sensor means can be provided for determining further operating parameters.

[0052] How Figure 2shows, the filtered target speed signal v_soll_transl, from which the calculated natural frequency was eliminated, is used to control the respective drive device, for example for the trolley drive 10 to move the trolley 9 along the boom 3, or for the slewing gear drive 6 to pivot the boom 3 about the axis 5.

[0053] The Figure 3 illustrates in its two partial representations a and b the reduction of the oscillations or pendulum movements achievable by the above-mentioned filtering, where x shows the travel distance over time, x the acceleration or the change in the distance over time, ϕ the deflection angle of the pendulum relative to the vertical and Φ̇ the change in the deflection angle or the angular acceleration, in each case over time.

[0054] If the target speed signal is used without filtering for control, as shown in partial view a of the Figure 3shows, significantly larger oscillations or pendulum movements occur, with the angular deflections and angular accelerations being particularly large. If the target speed signal is filtered, as is Figure 3b shows, the pendulum movements and the associated deflection angles and angular accelerations are significantly smaller.

[0055] This also illustrates Figure 4 which shows the frequency response in relation to the deflection angle or amplitude.

[0056] In order to be able to manually correct any pendulum movements that may still occur and to avoid hindering or delaying manual counter-steering, the control device 12 can, in an advantageous development of the invention, have a shutdown device for switching off the filter 14 or deactivating the filter 14. Advantageously, the shutdown device can comprise a gesture detection device in order to be able to switch off the filter 14 depending on a detected gesture of the machine operator.

[0057] In order to enable the filter function to be switched on and off quickly and easily, as may be necessary under certain circumstances, in order to cope with any pendulum movements that may occur, the control device 12 can, in particular, have additional operating elements on the control station 11 and / or on a remote control device. In particular, gesture control can be provided, whereby, for example, the filter function can be deactivated as soon as a counter-movement request is executed with the joystick or the input means for entering the target speed signal. Such a counter-movement request can, for example, be a reversal of the deflection of the joystick when it is moved from positive to negative or vice versa. This would be an intuitive gesture, since when counter-moving, the intuitive attempt is to bring the drive to a faster stop, which can also be achieved by switching off the filter 14.

[0058] The gesture detection system may also detect a head movement of the machine operator. For example, if the load hook is moved to the right and the operator tilts his head to the left during such a right-hand movement, this can be detected and interpreted as an intuitive gesture and a desire to counterattack.

Claims

1. Method for controlling a lifting device such as a crane (1) or cable excavator, in which a load-carrying means (8) is suspended from a boom (3) via a hoist rope (7) in the manner of a pendulum, and the boom (3) and / or a trolley (9) movable on the boom (3) is moved by means of at least one drive device (6; 10), wherein a desired speed signal (v_soll) is specified for the at least one drive device (6; 10) for moving the load-carrying means (8), characterized in that the natural frequency of the pendulum is filtered out from the predetermined desired speed signal (v_soll) by means of a filter (14) and the filtered desired speed signal (v_soll_transl) is used to control the at least one drive device (6; 10).

2. Method according to the preceding claim, wherein a parameterizable and / or adjustable filter (14) is used which is adjusted with respect to a frequency band to be filtered continuously or cyclically during the hoist operation as a function of a lowering depth (I) of the load-carrying means (8).

3. Method according to the preceding claim, wherein the natural frequency of the pendulum is calculated on the basis of a pendulum model, in particular a mathematical pendulum model, from the sinking depth (I) of the load-carrying means (8) and optionally further correction or model parameters, and based on the calculated natural frequency, the filter band of the filter (14) is shifted and / or the filter bandwidth is changed.

4. Method according to one of the preceding claims, wherein a switching-off request for switching off the frequency filtering is detected by means of a detection device and the frequency filtering of the predetermined target speed signal is automatically switched off as a function of a switching-off signal from the detection device.

5. Method according to the preceding claim, wherein a countering control command which counters a movement of the load-carrying means (8) currently to be carried out is detected by the detection device, wherein the filter (14) is automatically switched off as a function of a detected countering control command.

6. Device for controlling a lifting device such as a crane (1) or a cable excavator, in which a load-carrying means (8) is suspended from a boom (3) in the manner of a pendulum via a hoist rope (7), and the boom (3) and / or a trolley (9) movable on the boom (3) can be moved by means of at least one drive device (6; 10), characterized in that a filter (14) is provided for filtering out the natural frequency of the pendulum from a desired speed signal for the at least one drive device (6; 10) and provides a filtered desired speed signal for controlling the at least one drive device (6; 10).

7. Device according to the preceding claim, wherein the filter (14) is designed to be parameterizable and / or adjustable with respect to its filter band, wherein the control device is configured to adjust the filter (14) with respect to the filter band continuously or cyclically during hoist operation depending on at least one lowering depth (I) of the hoist rope (7).

8. Device according to one of the two preceding claims, wherein a determination device is provided for determining the natural frequency of the pendulum based on a pendulum model, in particular a mathematical pendulum model, from the lowering depth (I) of the load-carrying means (8), and the control device is configured to shift the filter band of the filter (14) and / or to change the filter bandwidth based on the calculated natural frequency.

9. Device according to one of the preceding claims, wherein a detection device (15) is provided for detecting the lowering depth (I) of the load-carrying means (8).

10. Device according to the preceding claim, wherein the sinking depth detection device (15) forms the only sensor.

11. Device according to one of the preceding claims, wherein a switch-off device is provided for switching off the filter (14) when pendulum movements occur.

12. Device according to the preceding claim, wherein the switch-off device comprises a gesture detection device for detecting gestures of the machine operator and is designed to switch off the filter (14) upon detection of a predetermined gesture.

13. Device according to the preceding claim, wherein the gesture detection device is designed to detect countering control commands of the machine operator, and the switch-off device is configured to switch off the frequency filtering of the predetermined target speed signal in dependence on a signal of the gesture detection device indicating a countering control command.

14. Hoist, in particular crane (1), with a control device (12) designed according to one of the preceding claims.

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