| 摘要 |
PROBLEM TO BE SOLVED: To prevent the damage to the article to be carried during carrying and improve a carrying efficiency by producing a damping signal for restraining the swing amount of a soft structure based on the change amount detected by a swing amount detection means and providing a damping conpensation means for compensating the control of a drive means by the control means based on the damping signal. SOLUTION: A control means (motor driver) 5 for producing a current signal for driving a motor 4 based on a prescribed speed order signal and the rotation speed of the motor 4 detected by a rotation speed detector 41 is provided. The acceleration of swing amount of a support member 6 generated following to the acceleration, deceleration and stop of a truck 3 is detected by the swing amount detection means (acceleration detector) 7 provided on the upper part of the support member 6. A damping signal for restraing the swing amount is produced based on the rotation speed of the motor detected by the rotation speed detector 41 and the acceleration of the swing amount of the support member 6 detected by the acceleration detector 7 and a damping compensarion means 8 for adding to the speed order signal after turning over the phase is provided.
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