| 摘要 |
<P>PROBLEM TO BE SOLVED: To suppress excessive rise of output torque of an electric motor for slewing and to automatically prevent backward movement. <P>SOLUTION: Means 31 calculates a target value of a rotation speed on the basis of a command from a device 20, means 32 calculates a deviation of a detection value from a rotation speed sensor 81 and the target value, means 33 calculates first target torque in a deviation dissolving direction, and means 34 calculates second target torque in the same direction as the target value on the basis of a command from the device 20. Means 50 calculates the change amount of a rotation angle of an electric motor 12 within a first range, and means 60 calculates the change amount within a second range. Means 40 calculates third target torque in the direction of returning to the rotation angle prescribed time t before on the basis of the change amounts from the means 50, 60, and means 73 limits the first target torque to the one of a larger absolute value in the same direction as the first target torque between the second and third target torque. Almost all of the first range stipulates the range of the change amount in one direction, and the remaining little range stipulates the range of the change amount in the other direction. Almost all of the second range stipulates the range of the change amount in the other direction and the remaining little range stipulates the range of the change amount in the one direction. <P>COPYRIGHT: (C)2012,JPO&INPIT |
