PROBLEM TO BE SOLVED: To provide a turn control device to shorten a period of a free turn state occurring at a braking operation for a turning body as well as to smoothly stop it.SOLUTION: A drive unit 203 stops an output of a torque command value during a first state (period TA) in which a turn command value is greater than an actual turn speed or equal while a stop-turning operation is input, occurring a free turn state. A command value calculation unit 202 decreases the turn command value by a first slope K1 in the first state. Meanwhile, the command value calculation unit 202 decreases the turn command value by a second slope K2, which is smaller than the first slope, in a second state (period after time t2) where the turn command value is less than an actual turn speed, while the stop-tuning operation is input.SELECTED DRAWING: Figure 8

    【課題】旋回体の制動時において発生するフリーラン状態を短縮すると同時に、旋回体を滑らかに停止させる。【解決手段】駆動部203は、旋回停止の操作が入力されている状態において、旋回指令値が実旋回速度以上の状態である第1状態の場合(期間TA)、トルク指令値の出力を停止し、フリーラン状態が発生する。指令値算出部202は、第1状態において、第1の傾きK1で旋回指令値を減少させる。一方、指令値算出部202は、旋回停止の操作が入力されている状態において、旋回指令値が実旋回速度未満となった状態である第2状態(時刻t2以降の期間)では、第1の傾きよりも傾斜が緩い第2の傾きK2で、旋回指令値を減少させる。【選択図】図8


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    Title :

    TURN CONTROL DEVICE


    Additional title:

    旋回制御装置


    Contributors:

    Publication date :

    2018-06-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66C Krane , CRANES / E02F Baggern , DREDGING



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