Patent ID: 7936143
Filing Date: 2011-05-03
Classification: B66C

Abstract:
1. A device for preventing sway of a suspended load for a trolley carriage equipped with a hoisting motor for hoisting a rope having one end to which a bucket is attached and a driving motor, the device comprising: a speed pattern creation circuit ( 11 ) for creating a speed command, a speed control device ( 14 ) for outputting a torque command based on the speed command, a torque command filter ( 16 ) for outputting a torque command by a first-order lag circuit by inputting the torque command, a load torque observer ( 4 ) for estimating and outputting a load torque on the trolley carriage by inputting the torque command which is an output of the speed control device ( 14 ), the device being configured to output a value obtained by adding a load torque estimation signal which is an output of the load torque observer ( 4 ) to an output of the torque command filter ( 16 ), characterized in that the device is further equipped with a high-pass filter (