| 摘要 |
PROBLEM TO BE SOLVED: To provide a swing drive control unit which can realize good riding comfort at the start of swing drive and the inversion of a driving direction and the lengthening of an operating life of a swing mechanism, and construction machinery including the swing drive control unit. SOLUTION: A super structure of the construction machinery is swingingly driven by an electric motor 21 for swing. The swing drive control unit 40 for controlling the drive of the motor-generator 21 for swing drive includes a drive command generating section 50. Characteristics for limiting a torque current command by a torque limiting section 54 are determined by a parameter which is computed by a torque limiting characteristics computing section 55 of the drive command generating section 50. The parameter makes the torque limiting characteristics of the torque limiting section 54 delayed so that the torque current command can be slowly started up in an S-shape with respect to a lapse of time. Consequently, drive torque can be slowly started up at the start of the drive of the electric motor 21, so as to suppress the backlash of the swing mechanism of the super structure and provide the good riding comfort. COPYRIGHT: (C)2009,JPO&INPIT
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