| 摘要 |
PROBLEM TO BE SOLVED: To effectively suppress power consumption while preventing degradation in a maneuvering feeling.SOLUTION: A first turning motor M1 and second turning motor M2 are driven or controlled based on a turning command value, and a reaction motor 51 is driven or controlled based on a reaction command value. Power to be consumed by the reaction motor 51 is estimated as reaction power consumption. According to maximum permissible power usable to drive or control the first turning motor M1, second turning motor M2, and reaction motor 51, and the reaction power consumption, power usable to drive or control the first turning motor M1 and second turning motor M2 is calculated as turning permissible power. According to a turning command value, power to be consumed by the first turning motor M1 and second turning motor M2 is estimated as turning power consumption. The turning command value is suppressed based on a ratio of the turning permissible power to the turning power consumption. |
