In view of the swing of the suspension transportation device, the bridge crane is taken as the research object. The mathematical model of crane load swing is established by using Lagrange equation, and the control scheme of the motor is established by using the attitude sensor to collect the realtime swing information of the crane. According to the function requirements of the system, the hardware circuit of the system is designed with the MC9S12XS128 chip as the core, and then the computer software is programmed with Kalman filter and complementary filtering algorithm. Finally, the closedloop control method of angle feedback is adopted to realize the anti swing control of the suspension by the drive of the frequency converter. The experimental results show that the design of the suspension anti swing control device has good control performance, so that the motor can be removed quickly after the motor stops running. The utility model has the advantages of strong adaptability, high safety and high efficiency.