JP2009035988A - Drive control device of revolving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide the same operating feeling as that in hydraulic control when an upper structure (3) is revolved at a specified angle or larger by an external force with the upper structure (3) brought in a position control state, when the upper structure (3) is changed over from a speed control state or a torque control state to a position control state, and when a stop instruction is given with the upper structure (3) brought in a position control state in a hybrid shovel. <P>SOLUTION: When the upper structure (3) is rotated at a specified angle or larger by the action of an external force in a position control state, when the upper structure (3) is changed over from a speed control state or a torque control state to a position control state, and when a stop instruction is given, a target position or an integration item are corrected based on a present position and a present speed of the upper structure while holding the output torque of an electric motor (27). <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a drive control device for a revolving structure that drives and controls a revolving structure such as a construction vehicle.

  In general, as an excavator which is one of construction vehicles, a hydraulic type in which each drive unit is driven by a hydraulic actuator is well known. In this hydraulic type, a hydraulic pump is constantly driven by an engine, and pressure oil from this hydraulic pump is supplied to actuators of various drive units (swivel bodies, blades, crawlers, booms, arms, buckets) via control valves. By supplying, the drive unit is driven.

  However, the problem with the hydraulic system is that the engine is fully open even though the amount of work is small, so the excess flow of pressure oil is thrown away, heat is not worked, and energy is wasted. There are drawbacks.

  Therefore, conventionally, a revolving body or the like as a drive unit is directly driven by an electric motor, and a generator is driven by an engine, and the generated electricity is once charged in a battery, and the inverter is driven by the charged power. There has been proposed a hybrid system that drives a rotating part such as a revolving body.

  For example, as disclosed in Patent Document 1, an emulation model for simulating the dynamic characteristics of a hydraulic drive type is set in a controller of an electric motor that drives a rotating system such as a revolving body of a construction vehicle, and the hydraulic drive type emulation model It is known that the control target value is calculated by controlling the electric motor.

  Moreover, in what is shown by patent document 2, while calculating | requiring the target torque of an electric actuator from the deviation of an operation command signal and the target speed according to this operation command signal, and an actual speed, the maximum permissible torque according to an actual speed is obtained. The electric actuator is controlled with the absolute value of the target torque or the maximum allowable torque as the final target torque of the electric actuator.

  Further, in Patent Document 3, the target speed and limit torque of the electric motor are determined based on the operation signal of the operation means, and the motor output by feedback control (PID control) is determined from the deviation between the target speed and the actual speed speed. It is shown that the torque is obtained and the motor is controlled with the smaller of the absolute values of the output torque and the limit torque as the final output torque.

Further, in Patent Document 4, a deviation between a command speed value set according to the operation amount of the turning operation unit and an actual speed is obtained, and acceleration / braking torque of the electric motor is controlled according to the speed deviation. It has been proposed to output a maximum acceleration torque when the operation amount of the operation unit is at least at or near the maximum, and to output a maximum braking torque when the operation amount is at least 0 or near 0, respectively.
JP 2003-333876 A JP 2003-033063 A JP 2006-112114 A JP 2001-010883 A

  By the way, in the above hydraulic system, when the swinging body is stopped and held by the hydraulic actuator when the operating position of the operating means is in the neutral position, an external force larger than the position holding torque (for example, in a hybrid excavator with a bucket) The hydraulic actuator is forcibly rotated when a reaction force of the load during excavation is applied, but when the external force disappears thereafter, the hydraulic actuator is held at the swiveled position.

  Fig. 8 schematically shows the hydraulic excavator as viewed from above. (2) is the lower traveling body, (3) is the upper swinging body, and (4) Is an excavation work machine provided on the upper swing body (3), and has a bucket (12) at the tip. FIG. 9 shows a hydraulic circuit for driving the upper swing body (3) to rotate, (51) is a hydraulic pump, (52) is a hydraulic motor as an actuator for driving the upper swing body (3), (53) Is a 6-port 3-position pilot valve, (54, 55, 56) are relief valves, and (57, 58) are check valves.

  When the hydraulic excavator operating device (not shown in FIG. 8; see (31) in FIG. 2) is in the neutral position and the upper swing body (3) stops rotating, it is shown in FIG. 9 (a). Thus, the pilot valve (53) is in the neutral position and closed, the path through which the hydraulic oil flows to the hydraulic motor (52) is blocked, and the hydraulic motor (52) stops (the blocked hydraulic oil path is In this state, the excavator (4) is excavated by the bucket (12) at the tip. At this time, as shown in FIG. 8A, when the bucket (12) hits a stone or the like and receives an external force (reaction force), a turning torque is applied to the revolving body (3) by the external force. When the turning torque is smaller than the motor torque, no oil flows even if the turning body (3) tries to rotate the hydraulic motor (52), and the state shown in FIG. It does not rotate and the swivel (3) does not turn either. On the other hand, when the turning torque due to the external force becomes equal to or greater than the motor torque, the hydraulic pressure P2 on the discharge side becomes equal to or higher than the set pressure P2r of the discharge side relief valve (55) as shown in FIG. The relief valve (55) opens, and hydraulic oil flows through the discharge side relief valve (55) and the supply side check valve (57) to rotate the hydraulic motor (52). To express). Then, when the turning torque due to the external force decreases below the motor torque, the release valve (55) is closed and the state shown in FIG. 9 (a) is restored, but the turning body (3) is moved by the amount of pressure oil flowing. It keeps turning and is held at the position after the turn as shown in FIG. If the motor torque when the relief valve (55) is opened and the hydraulic motor (52) rotates is Tmax, the motor torque T generated by the external force passes through the relief valve (55) when Tmax ≦ T. The oil flows and the motor (52) is rotated, but when 0 <T <Tmax, it moves slightly due to the compression of the oil. Thereafter, when the external force becomes weak, the compressed oil returns to the original position before returning.

  However, in the hybrid system, the turning body is turned based on the operation position of the operating device. For example, when a stop command is issued for the turning body such as when the operation position is in the neutral position, the position holding torque is output from the electric motor to turn the turning body. Since the position control is performed so that the body is stopped and held, after the external force larger than the position holding torque of the electric motor is applied and the electric motor is forcibly rotated, the original position before turning by the external force Is controlled to be held, and the swinging body returns to the original position before the swing (see the phantom line in FIG. 5C). That is, although the operator does not operate the operating device, the swinging body returns to the original position without permission, and there is a problem that the operation feeling is different from the hydraulic control described above, and that uncomfortable feeling occurs.

In addition, when the swiveling body is forcibly rotated by an external force in a position other than the stop command and performing position control that targets the command position of the swiveling body (3), Stop from other than the stop command while performing speed control to control the electric motor so that the turning speed of the vehicle becomes the target speed or torque control to control the electric motor so that the turning torque of the turning body becomes the target torque When switching from speed control or torque control to position control as a command, and when a stop command is issued from a position other than the stop command in the state where position control is being performed, a relief is applied in the hydraulic system as described above. Under the condition that the valve (55) is opened, the operation feeling is uncomfortable as described above.

  The present invention has been made in view of such a point, and an object of the present invention is to turn the vehicle in the above hybrid system or the like when, for example, the speed control state or the torque control state of the turning body is switched to the position control state. An operation feeling similar to that of the hydraulic control is obtained when a stop command is issued in the body position control state.

  In order to achieve the above object, according to the present invention, in the position control state of the revolving structure, the target position is corrected or the integral term in the position control is corrected without changing the output torque of the electric motor. did.

Specifically, in the first aspect of the invention, in the drive control device for the revolving structure in which the electric motor (27) is controlled according to the operation position of the operation means (31) to revolve the revolving structure (3). In the case of the stop command for the swing body (3), position control is performed to control the electric motor (27) so that the position of the swing body (3) at the time of changing to the stop command becomes the target position. Otherwise, position control targeting the command position of the swing body (3), speed control for controlling the electric motor (27) so that the swing speed of the swing body (3) becomes the target speed, or the swing body (3 ) Is provided with a control means (35) for performing any of torque control for controlling the electric motor (27) so that the turning torque of the turning body becomes a target torque, and the control means (35) is used to stop the turning body (3). regardless addition command or stop command, position control state, by the action of an external force When the rotating body (3) rotates more than a certain angle, it is configured to correct the target position based on the current position and current speed while maintaining the output torque of the electric motor (27). And

In the first aspect of the present invention, when the control means (35) issues a stop command for the swing body (3), the electric motor (27 ) Is controlled, and when it is other than the stop command, the position control is aimed at the command position of the swing body (3), and the electric motor (27 is set so that the swing speed of the swing body (3) becomes the target speed. ) Or a torque control for controlling the electric motor (27) so that the turning torque of the turning body (3) becomes the target torque. The output torque of the electric motor (27) when the turning body (3) is rotated more than a certain angle by the action of external force in the position control state regardless of the stop command or other than the stop command of the turning body (3). The target position is corrected based on the current position and the current speed while maintaining Since the position of the revolving body (3) is controlled so as to be corrected based on the current position and the current speed, an external force larger than the position holding torque of the electric motor (27) is applied to the electric motor (27 ) Is forcibly rotated, the swivel body (3) does not return to the original position before the turn, and there is no sense of incongruity in the operation feeling.

According to a second aspect of the present invention, in the drive control device for a revolving structure in which the electric motor (27) is controlled according to the operation position of the operation means (31) to revolve the revolving structure (3), the revolving structure (3 when the stop command), while performing position control of the position of the revolving body at the time of change to the stop command (3) controls the electric motor (27) so that the target position, when a non stop command, turning Position control that targets the command position of the body (3), speed control that controls the electric motor (27) so that the turning speed of the turning body (3) becomes the target speed, or turning torque of the turning body (3) A control means (35) for performing any one of torque controls for controlling the electric motor (27) so as to achieve a target torque is provided, and the control means (35) is changed from the speed control state or the torque control state to the position control state. When switching, the output torque of the electric motor (27) It is assumed that the target position is corrected based on the current position and current speed while holding the torque.

In the second invention, similarly to the first invention, when the control means (35) issues a stop command for the swing body (3), the position of the swing body (3) at the time of the change to the stop command is the target position. When the position control for controlling the electric motor (27) is other than the stop command, any one of the position control, the speed control, and the torque control targeting the command position of the swing body (3) is performed. When the revolving body (3) is switched from the speed control state or torque control state to the position control state, the output torque of the electric motor (27) is maintained and the target is based on the current position and current speed. The position is corrected. As described above, the target position is corrected based on the current position and the current speed of the revolving structure (3), and the position is controlled so as to be the target position, so that an uncomfortable feeling of operation is not caused.

According to a third aspect of the present invention, in the drive control device for a revolving structure (3) that controls the electric motor (27) according to the operation position of the operation means (31) to revolve the revolving structure (3), the revolving structure (3 when the stop command), while performing position control of the position of the revolving body at the time of change to the stop command (3) controls the electric motor (27) so that the target position, when a non stop command, turning Position control that targets the command position of the body (3), speed control that controls the electric motor (27) so that the turning speed of the turning body (3) becomes the target speed, or turning torque of the turning body (3) A control means (35) for performing any of the torque control for controlling the electric motor (27) so as to achieve the target torque is provided, and the control means (35) is in a state where the position control is performed without the stop command. When the stop command is issued, the electric motor (27) It is assumed that the target position is corrected based on the current position and current speed while maintaining the output torque.

In the third aspect of the invention, when the swinging body (3) is commanded to stop by the control means (35) , the electric motor (3) is set so that the position of the swinging body (3) when changing to the stop command becomes the target position. When the position control for controlling 27) is other than the stop command, any one of the position control, the speed control, and the torque control targeting the commanded position of the swing body (3) is performed. When the position control is performed without the stop command, when the stop command is issued, the output torque of the electric motor (27) is maintained and the target position is determined based on the current position and the current speed. It is corrected. As described above, the target position is corrected based on the current position and the current speed of the revolving structure (3), and the position is controlled so as to be the target position, so that an uncomfortable feeling of operation is not caused.

According to a fourth aspect of the present invention, in the drive control device for a revolving structure in which the electric motor (27) is controlled in accordance with the operation position of the operation means (31) to revolve the revolving structure (3), the revolving structure (3 ), The position control including the integral term is performed to control the electric motor (27) so that the position of the swing body (3) at the time of the change to the stop command becomes the target position. When the command is other than the stop command, position control targeting the command position of the swing body (3), speed control for controlling the electric motor (27) so that the swing speed of the swing body (3) becomes the target speed, or the swing body Control means (35) for performing any of the torque control for controlling the electric motor (27) so that the turning torque of (3) becomes the target torque is provided, and the control means (35) includes the turning body (3) regardless than stop command or stop command, position control state, the action of an external force When the turning body (3) rotates more than a certain angle and the output torque of the electric motor (27) exceeds a certain value, the output torque of the electric motor (27) is maintained and the current position is set as the target position. It is assumed that the integral term is corrected based on the current position and the current speed.

In the fourth aspect of the invention, when the stop command for the swing body (3) is issued by the control means (35), the electric motor (3) is set so that the position of the swing body (3) when changing to the stop command becomes the target position. When the position control including the integral term for controlling 27) is other than the stop command, any one of the position control, the speed control, and the torque control targeting the command position of the swing body (3) is performed. And, regardless of the stop command of the swing body (3) or other than the stop command, the swing body (3) rotates more than a certain angle by the action of external force in the position control state, and the output torque of the electric motor (27) is The integral term is corrected based on the current position and the current speed so that the output torque of the electric motor (27) is maintained and the current position is set as the target position when the value is equal to or greater than a certain value. Since the position of the revolving body (3) is controlled so as to be the target position, an external force larger than the position holding torque of the electric motor (27) is applied to forcibly rotate the electric motor (27). After that, the swiveling body (3) does not return to the original position before the turning, and there is no sense of discomfort in the operation feeling.

  In addition, since the target position is corrected when the output torque of the electric motor (27) is equal to or greater than a certain value, the operation feeling can be made closer to the hydraulic system and the occurrence of a sense of incongruity can be prevented more reliably.

According to a fifth aspect of the invention, in the drive control device for a revolving structure in which the electric motor (27) is controlled according to the operation position of the operation means (31) to revolve the revolving structure (3), the revolving structure (3 ), The position control including the integral term is performed to control the electric motor (27) so that the position of the swing body (3) at the time of the change to the stop command becomes the target position. When the command is other than the stop command, the position control (not limited to the position control including the above integral term ) for the command position of the swing body (3), the electric motor so that the swing speed of the swing body (3) becomes the target speed And control means (35) for performing either speed control for controlling (27) or torque control for controlling the electric motor (27) so that the turning torque of the turning body (3) becomes a target torque. The means (35) is in the speed control state or the torque control state. The integral term is corrected based on the current position and current speed so that the output torque of the electric motor (27) is maintained and the current position is set as a target position when the position control state is switched. To do.

In the fifth aspect of the present invention, when the swinging body (3) is commanded to stop by the control means (35), the electric motor ( 3) is set so that the position of the swinging body (3) at the time of change to the stop command becomes the target position. When the position control including the integral term for controlling 27) is other than the stop command, any one of the position control, the speed control, and the torque control targeting the command position of the swing body (3) is performed. As in the second aspect of the invention, when the rotational body (3) is switched from the speed control state or the torque control state to the position control state, the output torque of the electric motor (27) is maintained and the current position is determined. Based on the current position and current speed, the integral term in the position control at the time of the stop command is corrected so as to be the target position. In this way, the integral term in the position control is corrected based on the current position and current speed of the swivel body (3), and the output torque of the electric motor (27) is maintained so that the current position becomes the target position. Therefore, the operation feeling does not cause a sense of incongruity.

According to a sixth aspect of the present invention, in the drive control device for a revolving structure in which the electric motor (27) is controlled according to the operation position of the operation means (31) to revolve the revolving structure (3), the revolving structure (3 ), The position control including the integral term is performed to control the electric motor (27) so that the position of the swing body (3) at the time of the change to the stop command becomes the target position. When the command is other than the stop command, the position control (not limited to the position control including the above integral term ) for the command position of the swing body (3), the electric motor so that the swing speed of the swing body (3) becomes the target speed And control means (35) for performing either speed control for controlling (27) or torque control for controlling the electric motor (27) so that the turning torque of the turning body (3) becomes a target torque. The means (35) performs position control in a state that is not a stop command. The integral term is corrected based on the current position and current speed so that the output torque of the electric motor (27) is maintained and the current position is set as the target position when a stop command is issued. Shall.

In the sixth aspect of the invention, when the swinging body (3) is commanded to stop by the control means (35), the electric motor (3) is set so that the position of the swinging body (3) at the time of the change to the stop command becomes the target position. When the position control including the integral term for controlling 27) is other than the stop command, any one of the position control, the speed control or the torque control targeting the command position of the swing body (3) is performed. As in the third aspect of the invention, when the stop command is issued from the state where the position control is performed without the stop command, the output torque of the electric motor (27) is held and the current position is set as the target position. Thus, the integral term in the position control is corrected based on the current position and the current speed. In this way, the integral term in the position control is corrected based on the current position and current speed of the swivel body (3), and the output torque of the electric motor (27) is maintained so that the current position becomes the target position. Therefore, the operation feeling does not cause a sense of incongruity.

  In the seventh invention, the control means (35) in the first invention corrects the target position when the output torque of the electric motor (27) is a certain value or more.

  In the seventh aspect of the invention, since the target position is corrected when the output torque of the electric motor (27) is equal to or greater than a certain value, the operation feeling is further brought closer to the hydraulic system, and the occurrence of a sense of incongruity is more reliably prevented. can do.

  In the eighth invention, the revolving structure (3) is provided in a construction vehicle, and the electric motor (27) is a revolving electric motor for revolving the revolving structure (3).

  In the eighth aspect of the invention, when the revolving structure (3) in the construction vehicle is driven by the electric motor (27), it is possible to prevent the operation feeling from feeling uncomfortable.

  The ninth invention is characterized in that a braking mechanism for braking the electric motor (27) is combined.

  In the ninth aspect of the invention, for example, when it is necessary to stop and hold the swing body (3), the position of the swing body (3) is maintained by a braking mechanism instead of the parking brake and the position of the electric motor (27). Prevents the parking brake from deteriorating due to excessive external force applied to the motor, or eliminates the need for electric power when holding the position with the electric motor (27), saving energy and improving the life of the electric motor (27) be able to.

As described above, according to the first aspect of the present invention, in the drive control device for a swing body that controls the electric motor (27) according to the operation position of the operation means (31) to swing the swing body (3), When the stop command is (3), position control is performed to control the electric motor (27) so that the position of the swing body (3) at the time of change to the stop command becomes the target position . A control means (35) for performing any of position control, speed control or torque control targeting the command position of the swing body (3) is provided, and the control means (35) Regardless of the stop command, when the swiveling body (3) is rotated more than a certain angle by the action of external force in the position control state, the current position and current are maintained while maintaining the output torque of the electric motor (27). The target position was corrected based on the speed. In the second invention, the control means (35) retains the output torque of the electric motor (27) when the speed control state or the torque control state is switched to the position control state, and the current position and The target position was corrected based on the current speed. Furthermore, in the third invention, the control means (35) retains the output torque of the electric motor (27) when the stop command is issued from the state where the position control is performed without the stop command. The target position is corrected based on the current position and current speed. In the fourth aspect of the invention, the control means (35) is configured so that the swiveling body (3) is set to a certain angle or more by the action of an external force in the position control state regardless of any stop command or stop command for the swiveling body (3). When the motor rotates and the output torque of the electric motor (27) exceeds a certain value, the output torque of the electric motor (27) is maintained and the current position is set as the target position based on the current position and current speed. It was decided to correct the integral term. In the fifth invention, the control means (35) includes an integral term for controlling the electric motor (27) so that the position of the swing body (3) at the time of change to the stop command becomes the target position. The current position shall be controlled so that the output torque of the electric motor (27) is maintained and the current position is set as the target position when switching from the speed control state or torque control state to the position control state. And the integral term was corrected based on the current speed. Furthermore, in the sixth aspect of the invention, when the stop command is issued from the state where the position control is performed without the stop command, the output torque of the electric motor (27) is held and the current position is set as the target position. As described above, the integral term is corrected based on the current position and the current speed. According to these inventions, it is possible to obtain an operation feeling similar to that of the hydraulic system in which the swing body (3) is driven to rotate by hydraulic pressure, and it is possible to prevent an uncomfortable feeling in the operation feeling.

  According to the seventh invention, in the first invention, the target position is corrected when the output torque of the electric motor (27) is equal to or greater than a certain value, so that the operation feeling is made closer to the hydraulic system. Occurrence of discomfort can be more reliably prevented.

  According to the eighth invention, the turning body (3) is provided in the construction vehicle, and the electric motor (27) is a turning electric motor for turning the turning body (3). It is possible to prevent an uncomfortable feeling in the operation feeling when the revolving body (3) is driven by the electric motor (27).

  According to the ninth aspect of the invention, by combining a braking mechanism that brakes the electric motor (27), it is possible to save energy and improve the life of the electric motor (27).

  Hereinafter, the best embodiment of the present invention will be described in detail with reference to the drawings. The following description of the preferred embodiments is merely exemplary in nature and is in no way intended to limit the invention, its application, or its application.

(Embodiment 1)
FIG. 1 shows a hybrid excavator (1) as a construction vehicle. The hybrid excavator (1) includes an engine (21) and an electric motor as will be described later, and the engine (21) is used exclusively for power generation. At the same time, a so-called series system is employed in which all of the power required for traveling, excavation work, etc. depends on the power of the electric motor.

  The hybrid excavator (1) is attached to the lower swinging body (2), the upper swinging body (3) rotatably disposed on the upper surface of the lower traveling body (2), and the upper swinging body (3). And an excavation work machine (4) for performing excavation work and the like. Further, the lower traveling body (2) and the upper turning body (3) constitute a vehicle body of the hybrid excavator (1). In the following description, unless otherwise specified, “front side”, “rear side”, “left side”, and “right side” mean the front side, the rear side, the left side, and the right side, respectively, with respect to the lower traveling body (2).

  The lower traveling body (2) is provided with a traveling crawler (5) and a blade (6) for performing leveling work and the like. The lower traveling body (2) is provided with a traveling hydraulic motor (15) for driving the crawler (5) and a blade cylinder (16) for driving the blade (6).

  An operator cabin (7) is disposed on the upper swing body (3), and a hydraulic oil tank (8) and a machine cab (9) are disposed on the rear side and the right side, respectively. The upper swing body (3) is provided with a turning electric motor (27) for driving the upper swing body (3) through a speed reducer (28) (see FIG. 2).

  The excavation work machine (4) includes a boom (10) whose base end is rotatably connected to a revolving frame (not shown) of the upper swing body (3), and a tip of the boom (10). It has an arm (11) that is rotatably connected, and a bucket (12) that is rotatably connected to the tip of the arm (11). Then, the excavating machine (4) drives a boom cylinder (17) for driving the boom (10), an arm cylinder (18) for driving the arm (11), and a bucket (12). A bucket cylinder (19) is provided.

  One end of the boom cylinder (17) is rotatably supported by the upper swing body (3), and the tip of the rod (17a) which is the other end is rotatably connected to the base end of the boom (10). The boom (10) is rotated (raised) around the base end by expansion and contraction.

  One end of the arm cylinder (18) is rotatably supported on the upper surface of the boom (10), and the other end of the rod (18a) is rotatably connected to the arm (11). The arm (11) is rotated around the connecting shaft with the boom (10).

  The bucket cylinder (19) has one end rotatably supported on the front surface of the arm (11) and the other end of the rod (19a) is rotatably connected to the bucket (12). The bucket (12) is rotated around the connecting shaft with the arm (11).

  As shown in FIG. 2, the hybrid excavator (1) includes a drive control device (20) for controlling the turning electric motor (27) to cause the upper turning body (3) to turn. Yes. In addition, the hybrid excavator (1) includes a drive system for driving various cylinders (16, 17, 18, 19) as the hydraulic actuator and the traveling hydraulic motor (15), although not shown. Yes.

  The drive control device (20) includes, as an electric system, an engine (21), an AC generator (23), a converter (24), a battery (26), and an electric motor for turning (27). Yes.

  Specifically, the AC generator (23) is drivingly connected to the output shaft of the engine (21), and is configured to generate electric power by driving the engine (21). The alternator (23) is electrically connected to the converter (24). That is, the AC power generated by the AC generator (23) is converted into DC power by the converter (24). The battery (26) is electrically connected to a connection line with the converter (24), and is configured to charge and discharge. The controller (30) is electrically connected to the battery (26) (converter (24)) and supplied with DC power. In FIG. 2, (29) is a parking brake for stopping and holding the upper swing body (3).

  The turning electric motor (27) for turning the upper turning body (3) is controlled by the controller (30). This controller (30) generates an operation signal from an operating device (31) (operating means) provided in the operator cabin (7) and a pulse to detect the amount of rotation of the electric motor for turning (27). And at least the output signal of the device (32). The operating device (31) is connected to the controller (30) via the host device (33). The operation device (31) is operated by an operator (operator) to turn the upper swing body (3) in the operator cabin (7), and has, for example, an operation lever (31a). The upper swing body (3) turns or stops according to the operation position of 31a). For example, when the operation lever (31a) is in the neutral position at the center of the left and right, the upper swing body (3) stops turning and the operation lever When (31a) is tilted to the left, the upper swing body (3) turns left, and when it is tilted to the right, the upper swing body (3) turns right.

  In the controller (30), for example, in the case of speed control, the target speed of the turning electric motor (27) for turning the upper turning body (3) is calculated from the operation position based on the operation signal of the operating device (31). In addition, a speed deviation between the target speed and the actual rotational speed of the electric motor (27) based on the output signal from the pulse generator (32) is obtained, and the electric motor ( The output torque of 27) is obtained, and the upper swing body (3) is controlled by the output torque.

  Next, the processing operation for obtaining the output torque of the electric motor (27) in the controller (30) and outputting the torque to the electric motor (27) will be described with reference to FIG. FIG. 4 is a control block diagram relating to the processing operation.

  In the first step S1, it is determined whether or not there is a stop command state for stopping the upper swing body (3). The determination of the presence / absence of the stop command state is made, for example, when the operating device (31) is in a neutral position. When the determination is “no stop command” NO, the process proceeds to step S2 to determine whether or not the position control for controlling the electric motor (27) is performed so that the current position of the upper swing body (3) becomes the target position. To do. If this determination is YES, the process proceeds to step S4. If NO, the electric motor is controlled so that the control state for the upper swing body (3) is the non-position control state, that is, the swing speed of the upper swing body (3) is the target speed. It is determined that either the speed control for controlling the rotational speed of (27) or the torque control for controlling the output torque of the electric motor (27) so that the turning torque of the upper swing body (3) becomes the target torque. The process proceeds to step S10.

  On the other hand, if the determination in step S1 is “stop command present” YES, in step S3, whether or not the stop command state of the upper swing body (3) is the state immediately after the change is made, that is, the stop command. It is determined whether the command has been switched to a stop command from other than. When this determination is YES, “immediately after the change”, the process proceeds to step S7, and when it is “not immediately after change”, the process proceeds to step S4.

  In step S4, a position deviation, which is a deviation between the actual position of the upper swing body (3) obtained based on the output signal of the pulse generator (32) and its target position, is calculated. This target position is set to an initial value when, for example, the operating device (31) becomes a neutral position and a stop command is issued. In the next step S5, it is determined whether or not the calculated position deviation is a certain value or more. When this determination is NO, the process proceeds to step S10 as it is, but when the determination is YES, the process proceeds to step S6, and it is determined whether or not the output torque of the electric motor (27) is equal to or greater than a certain value (these steps). The switching associated with the determinations in S5 and S6 is performed by the “switcher” in the control block diagram shown in FIG. The output torque of the electric motor (27) is obtained based on the number of output pulses per unit time of the pulse generator (32) and the integrated value of the number of output pulses.

  If NO is determined in step S6, the process proceeds to step S10 as it is. If YES is determined, a target position correction amount ΔPos from the current position of the upper swing body (3) is calculated in step S7. In the next step S8, the target position correction amount ΔPos is added to the current position to determine a new target position (corrected target position).

  That is, the output torque T of the electric motor (27) can be calculated from the following equation (1). Kp is a position control proportional gain, Kv is a speed control proportional gain, and Vel is a rotation speed of the electric motor (27).

T = {(target position−current position) × Kp−Vel} × Kv (1)
And based on this Formula (1), in order to hold | maintain the present output torque T, a target position is determined as follows.

Target position = current position + {(T / Kv) + Vel} / Kp (2)
Thus, the target position correction amount ΔPos is
ΔPos = {(T / Kv) + Vel} / Kp (3)
It becomes. In the control block diagram shown in FIG. 4, the “target position correction” process is performed by the above equation (2). The correction amount can be calculated in the same manner by other control methods such as PID control.

  In step S9 after step S8, the position deviation is calculated again, and in step S10, the motor output torque T is calculated by, for example, a hydraulic model. In step S11, a torque limiting process is performed so that the motor output torque does not exceed the maximum torque. In step S12, the motor output torque is output to the turning electric motor (27) to output the turning electric motor (27). The current is controlled so that the torque becomes the motor output torque, and then the process ends.

And in this embodiment, a control means (35) is comprised by the function of said step S1-S12, and when this control means (35) is a stop command of a turning body (3), it is at the time of the change to the stop command. the one position of the upper swing body (3) performs position control for controlling the electric motor (27) so that the target position, when a non stop command, position control of a target command position of the swing body (3) , Speed control for controlling the rotational speed of the electric motor (27) so that the turning speed of the upper turning body (3) becomes the target speed, or the electric motor so that the turning torque of the upper turning body (3) becomes the target torque One of the torque controls for controlling the rotational torque of (27) is performed.

Moreover, by means of steps S1 to S8, the control means (35) allows the upper swing body (3) to move beyond a certain angle by the action of external force in the position control state, regardless of the stop command or stop command of the swing body (3). When the position deviation exceeds a certain value, the position control is performed when the upper revolving structure (3) is switched from the speed control state or the torque control state to the position control state, or when the stop command is not issued. When any stop command is issued from the current state, the target position is corrected based on the current position and the current speed Vel while maintaining the output torque of the electric motor (27). Has been.

  Further, at step S6, the control means (35) corrects the target position when the output torque of the electric motor (27) is a certain value or more.

-Swing control operation of upper swing body-
When the operator operates, for example, the operation lever (31a) of the operating device (31) in the operator cabin (7) of the upper swing body (3), the upper swing body (3) rotates. Specifically, an operation signal from the operating device (31) is input to the controller (30), and in this controller (30), (A) when the upper swing body (3) is stopped, the current position becomes the target position. In the state where the position control for controlling the electric motor (27) is performed, the upper swing body (3) rotates more than a certain angle by the action of external force, the position deviation becomes more than a certain value, and the output torque is “When forced excavation by external force when the excavator is stopped” when it is above a certain value, (B) The control state for the upper swing body (3) is electric so that the swing speed of the upper swing body (3) becomes the target speed. "Control that switches from position control to either speed control to control the motor (27) or torque control to control the electric motor (27) so that the turning torque of the upper swing body (3) becomes the target torque""Changingmethod" and (C) The switched to the stop command from the non-stop command "when changing from a stop command in the position control state", the target position of the upper swing body (3) is set in the correction target value.

  More specifically, during the forced rotation (A), during position control at the time of a stop command, when the hybrid excavator (1) is forced to turn by an external force, and during position control at a time other than the stop command, Similarly, the hybrid excavator (1) is forcedly turned by an external force.

  Also, when the control method is changed (B), the upper swing body (3) of the hybrid excavator (1) is switched from torque control or speed control to position control by switching from a stop command to a stop command while turning. When switching, and when the upper revolving structure (3) of the hybrid excavator (1) is stopped from turning, and when switching from torque control or speed control to position control by switching from a stop command to a stop command. It is.

  Further, when the operation position is changed in the position control state (C), the hybrid excavator (1) is in a state where the position control is performed in addition to the stop command and in the state where the position control is performed using the stop command. This is a time when the upper swing body (3) makes a stop command other than the stop command while turning, and also when the upper swing body (3) makes a stop command from other than the stop command when the upper swing body (3) stops turning.

  In the correction control of the target position of the upper swing body (3), the target position correction amount ΔPos from the current position of the upper swing body (3) is calculated, and this target position correction amount ΔPos is added to the current position to newly A target position is determined by equation (2).

  Thereafter, the motor output torque T is calculated, and after the torque limiting process for the motor output torque is performed, the motor output torque is output to the turning electric motor (27), and the motor (27) is output with the output torque. The current is controlled so that the motor output torque is obtained.

-Effect of Embodiment 1-
Therefore, in this embodiment, when there is a stop command, position control is performed to control the electric motor (27) so that the position of the swing body (3) at the time of change to the stop command becomes the target position, In the position control state, when the upper swing body (3) rotates more than a certain angle by the action of external force, the target position is based on the current position and current speed while maintaining the output torque of the electric motor (27). Is determined. Therefore, after the external motor greater than the position holding torque of the electric motor (27) is applied and the electric motor (27) is forcibly rotated, the upper swing body (3) returns to the original position before the turn. There is no uncomfortable feeling of operation.

  That is, forcibly rotating due to external force when the excavator is stopped, as shown in FIG. 5 (a), when the hybrid excavator (1) hits a stone or the like and receives a reaction force (external force), it turns upward by the reaction force. For example, when clockwise torque in FIG. 5 is applied to the body (3) and the torque exceeds the motor torque, the upper swing body (3) rotates in the same direction (right direction) as shown in FIG. 5 (b). Be made. After that, when the external force is lost, if there is no correction of the target position of the upper swing body (3), the initial position (the original position before the forced rotation) is indicated by the position control, as shown by the one-dot chain line in FIG. In this embodiment, since the target position of the upper swing body (3) is corrected, as shown by the solid line in FIG. 5, it moves to the corrected target position. The position is controlled as follows.

  At this time, when the target position to be corrected is determined to be the current position after forced rotation (the position indicated by the broken line in FIG. 5C), the target position becomes the current position, and the electric motor (27 ) Output torque T becomes T = 0 and changes abruptly, causing a shock. On the other hand, in the present embodiment, the target position is different from the current position after the forced rotation (as indicated by the solid line in FIG. 5C), the original position before the forced rotation with respect to the current position after the forced rotation. Therefore, the change in the output torque can be prevented. As a result, the target position is corrected so as to maintain the output torque of the electric motor (27), and an uncomfortable feeling of operation feeling can be prevented.

  Also, when the upper swing body (3) is switched from the speed control state or torque control state to the position control state, the current position and current speed are maintained while maintaining the output torque of the electric motor (27). Based on this, the target position is determined. Similarly, when the position control is performed without the stop command, when the stop command is issued, similarly, the output torque of the electric motor (27) is maintained and the current position and the current speed are maintained. The target position is determined. Even in these cases, there is no sense of discomfort in the operation feeling.

  In addition, during the stop command, the target position is corrected when the output torque of the electric motor (27) is above a certain value, so that the operation feeling can be made even closer to the hydraulic system to further prevent the occurrence of a sense of incongruity. it can.

(Embodiment 2)
6 and 7 show a second embodiment of the present invention (note that the same parts as those in FIGS. 1 to 5 are denoted by the same reference numerals and detailed description thereof is omitted). In the first embodiment, the speed control is performed. Whereas the P control of the loop is performed, the control method is applied to the PI control of the speed control loop.

  That is, in this embodiment, the processing operation for the electric motor (27) in the controller (30) is performed as shown in FIG. FIG. 7 is a control block diagram relating to the processing operation.

  First, in step S21, it is determined whether or not the operating device (31) is in a neutral position. When this determination is NO at “non-neutral position”, the process proceeds to step S22 to determine whether or not position control for controlling the electric motor (27) is performed so that the current position of the upper swing body (3) becomes the target position. judge. If this determination is YES, the process proceeds to step S24, but if NO, the electric motor is controlled so that the control state for the upper swing body (3) is the non-position control state, that is, the swing speed of the upper swing body (3) is the target speed. It is determined that either the speed control for controlling the rotational speed of (27) or the torque control for controlling the output torque of the electric motor (27) so that the turning torque of the upper swing body (3) becomes the target torque. The process proceeds to step S29.

  On the other hand, when the determination in step S21 is “neutral position”, in step S23, whether or not the stop command for the upper-part turning body (3) has been changed, that is, the stop command is changed from other than the stop command. Determine whether it has switched. When this determination is YES, “immediately after change”, the process proceeds to step S27, and when it is “not immediately after change”, NO, the process proceeds to step S24.

  In step S24, a position deviation which is a deviation between the actual position of the upper swing body (3) obtained based on the output signal of the pulse generator (32) and its target position is calculated. This target position is set to an initial value when, for example, the operating device (31) becomes a neutral position and a stop command is issued. In the next step S25, it is determined whether or not the calculated positional deviation is equal to or greater than a certain value. If this determination is NO, the process proceeds directly to step S29, but if the determination is YES, the process proceeds to step S26. It is determined whether or not the output torque of the electric motor (27) is equal to or greater than a certain value (the switching associated with the determinations in steps S25 and S26 is performed by the “switcher” in the control block diagram shown in FIG. 7).

  If NO is determined in step S26, the process proceeds to step S29 as it is. If YES is determined, in step S27, the output torque of the electric motor (27) drivingly connected to the upper swing body (3) is increased. An integral term correction value for determination is calculated, and in the next step S28, the integral term correction value is determined as a new integral term.

  That is, when using the integral term of the speed control loop, the output torque T of the electric motor (27) can be calculated from the following equation (4). Kv is a speed control proportional gain, Ti is a speed control integration time constant, fbI is an integral term, and Verr is a speed deviation.

T = (Verr + fbI × Ti) × Kv (4)
Based on the equation (4), the integral term correction value ΔfbI is determined as follows in order to maintain the current output torque T with the current position as the target position. Vel is the rotational speed of the electric motor (27).

ΔfbI = (T / Kv + Vel) / Ti (5)
The above calculation formula corresponds to “integral term correction” in the control block diagram shown in FIG. 7, and the determination immediately after the change of the stop command corresponds to “switch” in the same block diagram. If it is determined immediately after, the integral term correction value is taken as the integral term.

  In step S29 after step S28, the motor output torque T is calculated. In the next step S30, a torque limiting process is performed so that the motor output torque does not exceed the maximum torque. In step S31, the motor output torque is output to the turning electric motor (27) to turn the turning electric motor (27). The current is controlled so that the output torque becomes the motor output torque, and then the process ends.

And in this embodiment, a control means (35) is comprised by the function of said step S21-S31, and when this control means (35) is a stop command of a turning body (3), it is at the time of the change to the stop command. The position control including the integral term is performed to control the electric motor (27) so that the position of the revolving body (3) becomes the target position. Speed control for controlling the electric motor (27) so that the turning speed of the revolving structure (3) becomes the target speed, or control the electric motor (27) so that the turning torque of the revolving structure (3) becomes the target torque. Perform either torque control.

  In addition, in steps S21 to S28, the control means (35) performs the position control when the upper swing body (3) is switched from the speed control state or the torque control state to the position control state, or in a state where it is not a stop command. When a stop command is issued from the current state, in either case, the output torque of the electric motor (27) is maintained and the current position is set as the target position based on the current position and current speed. The integral term is to be corrected.

  Further, during the stop command, in step S26, the control means (35) corrects the integral term in the position control when the output torque of the electric motor (27) is equal to or greater than a certain value.

  Other configurations are the same as those of the first embodiment.

-Swing control operation of upper swing body-
An operation signal from the operating device (31) is input to the controller (30). In the controller (30), (A) the electric motor (27) so that the current position becomes the target position when the upper swing body (3) is stopped. ), The upper swing body (3) is rotated by a certain angle or more by the action of an external force, the positional deviation becomes a certain value or more, and the output torque is a certain value or more. When “Forced rotation due to external force when excavator is stopped”, (B) Control state for upper revolving structure (3) is to turn electric motor (27) so that turning speed of upper revolving structure (3) becomes the target speed. "When the control method is changed" when switching from the speed control to control or the torque control to control the electric motor (27) so that the turning torque of the upper turning body (3) becomes the target torque, And (C) Other than stop command Switched to al stop command "when changing from a stop command in the position control state", the integral term is corrected so that the current position of the upper swing body (3) is the target position. These forced rotation (A), control system change (B), and change to a stop command in the position control state (C) are the same as in the first embodiment.

  Then, in calculating the output torque of the electric motor (27), in the case immediately after changing the stop command, an integral term correction value ΔfbI for maintaining the output torque at the current output torque is calculated by the equation (5), The calculated integral term correction value ΔfbI becomes the integral term fbI to determine a new integral term, and the output torque of the electric motor (27) is calculated based on this new integral term. Thereafter, after the torque limiting process for the motor output torque is performed, the motor output torque is output to the electric motor for turning (27), and the motor (27) is supplied with current so that the output torque becomes the motor output torque. Be controlled.

-Effect of Embodiment 2-
In the case of this embodiment, when the revolving body (3) is switched from the speed control state or torque control state to the position control state, or when the stop command is issued from the state where the position control is performed without being the stop command. The integral term in the position control in the stop command is corrected based on the current position and the current speed so that the output torque of the electric motor (27) is maintained and the current position is set as the target position. Since the position is controlled so that the output torque of (27) is maintained and the current position becomes the target position, there is no sense of incongruity in the operation feeling.

In addition, the integral term in position control during the stop command is corrected when the output torque of the electric motor (27) is above a certain value. Can be prevented.

(Other embodiments)
In the above-described embodiment, a hydraulic, pneumatic, mechanical, etc. braking mechanism for braking the electric motor (27) for turning can be combined. Specifically, although not shown, this braking mechanism is provided, for example, as a mechanism for braking the rotation of the connecting shaft that drives and connects the motor (27) and the speed reducer (28). By providing such a braking mechanism, it is possible to save energy and improve the life of the electric motor (27).

  In other words, when the excavator's turning motor is a hydraulic motor, the upper turning body is not turning, and the parking brake is released during work. The hydraulic motor has the resistance force. On the other hand, when the excavator's turning motor is changed from a hydraulic motor to an electric motor (27), in order to do the same with the electric motor (27), current must be passed from outside to generate resistance torque. Don't be. Further, when the turning external force changes, the intended stop position cannot be maintained unless the current is adjusted. Furthermore, it is necessary to continue generating the turning torque in the turning body (3) during the pressing excavation. For this reason, it is necessary to keep an electric current flowing through the electric motor (27), and a loss occurs due to heat generation.

  The revolving body (3) can be forced to hold the position by applying the parking brake (29), but when an excessive external force exceeding the brake torque is applied to the revolving body (3), the parking brake (29 ) Is damaged or squealed.

  Therefore, a braking mechanism for braking the turning electric motor (27) is provided separately from the electric motor (27), and the parking brake (29) is provided by generating a resistance force against the turning external force by the braking mechanism. To prevent damage to the brake and prevent deterioration of the brake, making it unnecessary to supply a large current to the electric motor (27), thus saving energy and extending the life of the electric motor (27). Can do.

  Further, in the above embodiment, when the output torque of the electric motor (27) is equal to or greater than a certain value, the correction of the target position of the upper swing body (3) or the integral term in the position control is performed. However, it is not necessary to limit the output torque of the electric motor (27) to a certain value or more. In addition, the upper swing body under any one of the conditions of forced rotation by external force when the excavator is stopped (A), control method change (B), or change to stop command in position control state (C) The target position correction control in (3) is either during forced rotation by external force when the excavator is stopped (A), when the control method is changed (B), or when the command is changed to a stop command in the position control state (C) Alternatively, the correction of the integral term in the position control may be performed under one situation.

  Furthermore, in the above embodiment, the upper swing body (3) of the hybrid excavator (1) is controlled. However, the present invention is not limited to this upper swing body (3), and other construction vehicles and general This can also be applied to the case where the revolving body is driven by an electric motor.

  INDUSTRIAL APPLICABILITY The present invention is extremely useful in a system in which a turning body is driven to turn by an electric motor, and has high industrial applicability.

FIG. 1 is a perspective view showing a hybrid excavator. FIG. 2 is a diagram illustrating an overall configuration of the drive control device for the revolving structure according to the first embodiment of the present invention. FIG. 3 is a flowchart showing processing operations in the controller of the drive control device for the revolving structure according to the first embodiment. FIG. 4 is a control block diagram of the revolving structure drive control device according to the first embodiment. FIG. 5 is a schematic plan view showing an operation when the upper swing body of the hybrid excavator is swung by an external force. FIG. 6 is a view corresponding to FIG. FIG. 7 is a view corresponding to FIG. FIG. 8 is a view corresponding to FIG. 5 illustrating the operation when the upper swing body of the excavator is swung by an external force. FIG. 9 is a diagram illustrating the flow of pressure oil in the hydraulic circuit that drives the upper swing body of the hydraulic excavator.

Explanation of symbols

1 Hybrid excavator
3 Upper swing body
4 Excavator
5 Crawler
12 buckets
21 engine
27 Electric motor for turning
30 controller
31 Operating device (operating means)
31a Control lever
32 pulse generator
35 Control means
52 Hydraulic motor
53 Pilot valve

Claims (9)

In the drive control device for the swing body that controls the electric motor (27) according to the operation position of the operation means (31) to rotate the swing body (3),
In the case of the stop command for the swing body (3), the position control is performed to control the electric motor (27) so that the position of the swing body (3) at the time of the change to the stop command becomes the target position. In other cases, the position control, the speed control for controlling the electric motor (27) so that the turning speed of the turning body (3) becomes the target speed, or the turning torque of the turning body (3) becomes the target torque. A control means (35) for performing any of torque control for controlling the electric motor (27);
Regardless of the stop command or the stop command for the revolving structure (3), the control means (35) is in the position control state, when the revolving structure (3) is rotated more than a certain angle by the action of external force, A drive control device for a revolving structure, wherein the target position is corrected based on the current position and current speed while maintaining the output torque of the electric motor (27). In the drive control device for the swing body that controls the electric motor (27) according to the operation position of the operation means (31) to rotate the swing body (3),
When the stop command for the swing body (3) is given, position control is performed to control the electric motor (27) so that the initial position of the swing body (3) becomes the target position. , Speed control to control the electric motor (27) so that the turning speed of the turning body (3) becomes the target speed, or control the electric motor (27) so that the turning torque of the turning body (3) becomes the target torque Control means (35) for performing any of torque control
When the control means (35) is switched from the speed control state or torque control state to the position control state, the control means (35) retains the output torque of the electric motor (27) based on the current position and current speed. A drive control device for a revolving structure, which is configured to correct a target position. In the drive control device for the swing body that controls the electric motor (27) according to the operation position of the operation means (31) to rotate the swing body (3),
In the case of the stop command for the swing body (3), the position control is performed to control the electric motor (27) so that the position of the swing body (3) at the time of the change to the stop command becomes the target position. In other cases, the position control, the speed control for controlling the electric motor (27) so that the turning speed of the turning body (3) becomes the target speed, or the turning torque of the turning body (3) becomes the target torque. A control means (35) for performing any of torque control for controlling the electric motor (27);
The control means (35) maintains the output torque of the electric motor (27) while maintaining the output torque of the electric motor (27) when the stop command is issued from the state where the position control is performed without the stop command. A drive control device for a revolving structure, which is configured to correct a target position based on a speed. In the drive control device for the swing body that controls the electric motor (27) according to the operation position of the operation means (31) to rotate the swing body (3),
A position including an integral term for controlling the electric motor (27) so that the position of the swing body (3) when changing to the stop command becomes the target position when the stop command of the swing body (3) is given. On the other hand, when it is other than the stop command, the above position control, the speed control for controlling the electric motor (27) so that the turning speed of the turning body (3) becomes the target speed, or the turning torque of the turning body (3) Control means (35) for performing any of torque control for controlling the electric motor (27) so that becomes a target torque,
Regardless of the stop command or the stop command for the revolving structure (3), the control means (35) can rotate the revolving structure (3) to a certain angle or more by the action of an external force in the position control state. When the output torque of the motor (27) is above a certain value, the integral term is based on the current position and current speed so that the output torque of the electric motor (27) is maintained and the current position is set as the target position. It is comprised so that it may correct | amend, The drive control apparatus of the turning body characterized by the above-mentioned. In the drive control device for the swing body that controls the electric motor (27) according to the operation position of the operation means (31) to rotate the swing body (3),
In the case of the stop command for the swing body (3), the position control including the integral term is performed to control the electric motor (27) so that the initial position of the swing body (3) becomes the target position. Otherwise, position control, speed control to control the electric motor (27) so that the turning speed of the turning body (3) becomes the target speed, or electric movement so that the turning torque of the turning body (3) becomes the target torque. A control means (35) for performing any of torque control for controlling the motor (27);
When the control means (35) switches from the speed control state or the torque control state to the position control state, the control means (35) holds the output torque of the electric motor (27) and sets the current position as the target position. A drive control device for a revolving structure, wherein the integral term is corrected based on the current position and the current speed. In the drive control device for the swing body that controls the electric motor (27) according to the operation position of the operation means (31) to rotate the swing body (3),
A position including an integral term for controlling the electric motor (27) so that the position of the swing body (3) when changing to the stop command becomes the target position when the stop command of the swing body (3) is given. On the other hand, when it is other than the stop command, the position control, the speed control for controlling the electric motor (27) so that the turning speed of the turning body (3) becomes the target speed, or the turning torque of the turning body (3) A control means (35) for performing any of torque control for controlling the electric motor (27) so as to achieve a target torque;
The control means (35) holds the output torque of the electric motor (27) and sets the current position as a target position when a stop command is issued from a state in which position control is performed without a stop command. As described above, the drive control device for a revolving structure is characterized in that the integral term is corrected based on the current position and the current speed. In the revolving structure drive control device according to claim 1,
The control means (35) corrects the target position when the output torque of the electric motor (27) is equal to or greater than a certain value. In the drive control device of the revolving structure according to any one of claims 1 to 7,
The swivel (3) is provided in the construction vehicle,
The electric motor (27) is a turning electric motor for turning the turning body (3). In the drive control device of the revolving structure according to any one of claims 1 to 8,
A drive control device for a revolving structure, wherein a braking mechanism for braking the electric motor (27) is combined.

Images