Control device and method for controlling motion of a load

A system for handling a load, the system comprising:

• a carrier device comprising a suspension point for carrying the load non-rigidly connected to the suspension point, and a controllable drive for moving the suspension point, and
• a control device for receiving an input signal indicative of a target speed of the load and for supplying, to the controllable drive, an output signal indicative of a reference speed of the suspension point,
• wherein the control device comprises:
• an input interface for receiving the input signal,
• an output interface for submitting the output signal to the controllable drive, and
• a processing system constituting a signal processing path for producing the output signal based on the input signal, the signal processing path comprising at least one finite impulse response filter for suppressing a signal component whose frequency is a natural swinging frequency of the load.

A method for controlling motion of a load non-rigidly connected to a suspension point, the method comprising:

• receiving an input signal indicative of a target speed of the load,
• supplying the input signal to a signal processing path for producing an output signal indicative of a reference speed of the suspension point, and
• controlling motion of the suspension point in accordance with the output signal of the signal processing path,
• wherein the signal processing path comprises at least one finite impulse response filter for suppressing a signal component whose frequency is a natural swinging frequency of the load.

A non-volatile computer readable medium encoded with a computer program for controlling motion of a load non-rigidly connected to a suspension point, the computer program comprising computer executable instructions for controlling a programmable processor to:

• constitute a signal processing path,
• receive an input signal indicative of a target speed of the load,
• supply the input signal to the signal processing path to produce an output signal indicative of a reference speed of the suspension point, and
• control motion of the suspension point in accordance with the output signal of the signal processing path,
• wherein the computer program comprises computer executable instructions for configuring the signal processing path to comprise at least one finite impulse response filter for suppressing a signal component whose frequency is a natural swinging frequency of the load.