This study is about an attitude control device applying flywheels. Reaction torque of a flywheel is applied for oscillation suppression of a suspended load. We suggest a sensorless estimation method of the attitude angular velocity. The band pass filter extracts the component of oscillation velocity from flywheel rotation velocity that contains various kinds of errors. A disturbance observer eliminates the steady state error on the wheel. Since the disturbance observer is for low frequency range, it does not interfere to angle velocity estimation. This attitude control device is convenient because it needs least calibrations when it is remounted on various suspended loads. The experimental result shows the validity of angle velocity estimation and the validity of oscillation suppression.
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