| 摘要 |
PROBLEM TO BE SOLVED: To improve turning performance in traveling extremely slowly in a crawler type working machine equipped with crawler belts on either side of a machine body. SOLUTION: The crawler type electric working machine is provided with crawler belts 15L and 15R disposed on either side of the machine body. Drive wheels 23L and 23R of the crawler belts are driven by electric motors 25L and 25R respectively. The electric motors are controlled by a control part 44. The control part commands the electric motor on a turn inside to stop temporally provided that a turning command is given, a target speed and an actual speed of the electric motor driving a driving wheel on a turn inside is below a lower limit threshold value for immediately before stoppage, and control signal output to bring the actual speed of the electric motor on a turn inside close to a target speed reaches the limiting value of control signal output. And then the control part commands the electric motor to reverse and performs an accelerating control so as to bring an actual speed close to a target speed necessary to turn. |
