| 摘要 |
PROBLEM TO BE SOLVED: To suppress vibration without sacrificing operability.SOLUTION: An electric turning device 500 is mounted on a work machine for turnably driving an upper turning body to a travel mechanism. Rotation detection means 520 acquires the rotational information of the turning body. A first torque command value generation unit 506 generates a first torque command value τsuch that a speed detection value ωbased on the detection result of the rotation detection means 520 matches a speed command value ωcorresponding to the operation input of an operator. A vibration suppressor 510 receives rotational information ωfrom the rotation detection means 520, and generates a torque correction value τsuch that vibration components approach zero, and synthesizes the torque correction value τwith the first torque command value τto generate a second torque command value τ. An invertor 504 drives a turning electric motor 502 on the basis of the second torque command value τfrom the vibration suppressor 510.SELECTED DRAWING: Figure 5 |
