| 摘要 |
<P>PROBLEM TO BE SOLVED: To prevent vibration of an upper rotating body (3) by always preventing a relationship between motor output torque and a speed deviation from exceeding a limit when driving the upper rotating body (3) of a hybrid shovel with an electric motor (27). <P>SOLUTION: A target speed of the electric motor (27) for rotating the upper rotating body (3) is calculated from an operating position of an operation device (31) so as to calculate a speed deviation between the target speed and an actual speed of the electric motor (27). Output torque of the electric motor (27) is calculated on the basis of a function of motor output torque with respect to the speed deviation. The function of the motor output torque with respect to the speed deviation is corrected so that an absolute value of its derivative value becomes less than a prescribed value. <P>COPYRIGHT: (C)2009,JPO&INPIT |
