Device for preventing sway of suspended load

Abstract

This invention provides a device for preventing sway of a suspended load, which does not require complex calculation for eliminating frictional resistance components. The device is equipped with a speed control device () for outputting a torque command based on a speed command, a torque command filter (), and a load torque observer () for estimating the load torque, and configured to output a value obtained by adding a load torque estimation signal to an output of the torque command filter (). The device is further equipped with a high-pass filter () for outputting a signal THPF in which a frictional resistance component is eliminated from the load torque estimation signal and a sway angle calculator () for outputting a sway angle estimation calculated value θe obtained by multiplying a sway angle calculator factor by the output signal THPF. A value obtained by subtracting a damping compensation signal Nobtained by damping-compensating the sway angle estimation calculated value θe from a speed command created by a speed pattern creation circuit () is inputted to the speed control device ().