WORKING MACHINE AND METHOD FOR CONTROLLING SAME

摘要

A shovel according to an embodiment of the present invention controls the charge/discharge voltage of a capacitor and supplies electrical power to a motor. A voltage control circuit performs charge/discharge control on the capacitor. A disturbance estimator is incorporated into the control loop for the voltage control circuit. The disturbance estimator calculates the amount of current affected by disturbance as a disturbance correction command value and provides the disturbance correction command value to the control loop.