Yanmar Power Technology Co., Inc.

Tatsuya Fujimori

Naohiro Hara

Shingo Eguchi

Kensuke Kaneda

Keishi Yamanaka

Masaki Yamada

A construction machine includes an attitude sensor that detects the current attitude of an upper turning body; a reference angular acceleration calculation unit that calculates a reference angular acceleration to be generated when an electric turning motor is driven by a torque command value generated according to the operation amount of an operation part; a reference gravity torque calculation unit that, on the basis of the current attitude and the deviation between an actual angular acceleration, calculates a reference gravity torque; a gravity compensation torque calculation unit that calculates a gravity compensation torque for compensating a torque component generated about the turning axis by the gravity in the current attitude; and a correction unit that corrects the torque command value by using the gravity compensation torque so as to cancel the torque component generated about the turning axis by the gravity in the current attitude.

Growing community of inventors

Osaka, Japan

Tatsuya Fujimori