To provide a cargo suspension control device for use with a crane device capable of surely and quickly damping the oscillation of a container suspended.
The suspension control device for an attitude control element whose attitude is controlled by six telescopic actuators 21 on a traversing truck and which has a second horizontal support plate for suspending a container- gripping plate via wire includes: a position/attitude command part 35 for directing the position and attitude of the second horizontal support plate; a force computing part 33 for computing the force generated at each actuator; an output computing part 39 for computing, based on these forces, each axial force working on the second horizontal support plate and torque about each axis; an oscillation computing part 40 for computing the amount and angle of oscillation about each axis based on these outputs; a gain part 44 where the outputs are multiplied by gains matching the mass and suspended height of the container; and a phase adjusting part 45 where the outputs are adjusted to a phase matching the mass and suspended height of the container and are then fed back to a position/attitude command.
ONAKA TATSUMI
MIYAKE HIDEJI
MURAKAMI OSAMU
MORII TOSHIAKI
