WO2005111322A1 - 旋回制御装置、旋回制御方法、および建設機械 - Google Patents
旋回制御装置、旋回制御方法、および建設機械 Download PDFInfo
- Publication number
- WO2005111322A1 WO2005111322A1 PCT/JP2005/008760 JP2005008760W WO2005111322A1 WO 2005111322 A1 WO2005111322 A1 WO 2005111322A1 JP 2005008760 W JP2005008760 W JP 2005008760W WO 2005111322 A1 WO2005111322 A1 WO 2005111322A1
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- WO
- WIPO (PCT)
- Prior art keywords
- control
- turning
- speed
- control system
- control device
- Prior art date
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- 238000010276 construction Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims description 22
- 230000008859 change Effects 0.000 claims description 15
- 230000010354 integration Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 13
- 239000000446 fuel Substances 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000007935 neutral effect Effects 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 239000003990 capacitor Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2062—Control of propulsion units
- E02F9/2075—Control of propulsion units of the hybrid type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
- B66C23/84—Slewing gear
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/08—Superstructures; Supports for superstructures
- E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
- E02F9/12—Slewing or traversing gears
- E02F9/121—Turntables, i.e. structure rotatable about 360°
- E02F9/128—Braking systems
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
- E02F9/2095—Control of electric, electro-mechanical or mechanical equipment not otherwise provided for, e.g. ventilators, electro-driven fans
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Definitions
- the present invention is applied to a construction machine equipped with a working machine, and controls a turning operation of a turning body driven by an electric motor.
- the turning control device, the turning control method, and the turning body use an electric motor.
- the present invention relates to a revolving construction machine.
- Patent Document 1 JP 2001-11897 A
- An object of the present invention is to provide a swing control device, a swing control method, and a construction machine that can reliably maintain a stationary state of a swing body.
- the turning control device of the present invention is applied to a construction machine equipped with a working machine, and is a turning control device that controls a turning operation of a turning body driven by an electric motor.
- Control command generation means for generating and outputting a control command; and target speed determination means for determining whether a target speed of the revolving body generated based on the operation amount of the operating body has fallen below a predetermined threshold.
- target speed determination means for determining whether a target speed of the revolving body generated based on the operation amount of the operating body has fallen below a predetermined threshold.
- a control system changing means for changing a control system of the turning control device according to a result of the judgment by the target speed judging means.
- control system changing means may switch the control law of the control command generation means from speed control to position control or change the control law as the control system change. It is desirable to switch to force proportional integration control.
- control system changing means switches a speed gain of the control command generating means as the change of the control system.
- control system changing means switches the speed gain from a small gain to a large gain.
- the turning control method of the present invention is applied to a construction machine equipped with a working machine, and is a turning control method for controlling a turning operation of a turning body driven by an electric motor.
- the step of changing the control system of the turning control method includes, as a change of the control system, changing the control law of the step of generating and outputting the control command from speed control. It is desirable to switch to position control or to switch from proportional control to proportional integral control.
- the step of changing the control system of the turning control method may include switching the speed gain of the step of generating and outputting the control command as the change of the control system. Desired,.
- a construction machine according to the present invention includes a revolving structure that is revolved and driven by an electric motor, and the revolving control device according to the present invention for controlling the revolving structure.
- the turning control when it is determined that the target speed of the revolving body generated based on the operation amount of the operating body is below a predetermined threshold, the turning control is performed. Since the control law and control parameters are changed as a change in the control system of the device, and a larger braking torque is generated than in the case of normal control, the stationary state of the revolving superstructure is reliably maintained.
- FIG. 1A is a schematic view showing a state in which a construction machine according to a first embodiment of the present invention is placed with the front of a revolving superstructure facing upward of a slope.
- FIG. 1B is a schematic diagram showing a state in which the construction machine according to the first embodiment of the present invention has turned the revolving structure downward and stopped in the middle thereof.
- FIG. 2 is a plan view schematically showing the construction machine according to the first embodiment.
- FIG. 3 is a diagram showing an entire configuration of a construction machine according to the first embodiment.
- FIG. 4 is a diagram for explaining control of the first embodiment.
- FIG. 5 is a block diagram showing a control structure of a turning control device according to the first embodiment.
- FIG. 6 is another diagram for explaining the control of the first embodiment.
- FIG. 7 is a flowchart of the first embodiment.
- FIG. 8 is a diagram for explaining control according to the second embodiment.
- FIG. 9 is a block diagram showing a control structure of a turning control device according to a third embodiment.
- FIG. 10 is a diagram for explaining control according to the third embodiment.
- FIG. 11 is a flowchart of the third embodiment.
- FIG. 12 is a block diagram showing a control structure according to a modification of the present invention.
- FIG. 13 is a flowchart of a modified example of the present invention.
- FIG. 1A is a schematic diagram showing a state in which an electric swing shovel (construction machine) 1 according to the present embodiment is placed with the front of a swing body 4 facing the upper side of a slope
- FIG. FIG. 4 is a schematic diagram showing a state in which 4 is turned downward and stopped halfway (at a position of approximately 90 °, see FIG. 2).
- FIG. 2 is a plan view schematically showing the electric turning shovel 1.
- FIG. 3 is a block diagram showing the entire configuration of the electric swing shovel 1
- FIG. 4 is a diagram for explaining control of the swing body 4 by the electric swing shovel 1. As shown in FIG.
- the electric swing shovel 1 includes a swing body 4 installed on a track frame constituting a lower traveling body 2 via a swing circle 3.
- the body 4 is turned by an electric motor 5 combined with the swing circle 3.
- the revolving superstructure 4 has a boom 6 operated by a boom cylinder 21 (see FIG. 3), an arm 7 driven by an arm cylinder 22 (see FIG. 3), and a bucket cylinder 23 (see FIG. 3).
- a driven packet 8 is provided.
- the working machine 9 is constituted by these components.
- each of the above-described cylinders 21 to 23 is a hydraulic cylinder, and the hydraulic pressure source is a hydraulic pump 19 driven by the engine 14 described later. Therefore, the electric swing shovel 1 is a hybrid construction machine including the hydraulically driven work machine 9 and the electrically driven swing body 4.
- the electric turning shovel 1 has a turning lever (operating body) 10, a fuel dial 11, a mode switching switch 12, a target speed setting device 13, an engine, in addition to the above-described configuration. 14, a generator motor 15, an inverter 16, a capacitor 17, an electric motor 5, a rotational speed sensor 18, a hydraulic control valve 20, a right traveling motor 24, a left traveling motor 25, and a turning control device 100.
- the fuel dial 11 is a dial for controlling the amount of fuel supply (injection) to the engine
- the mode switching switch 12 is a switch for switching between various work modes. Operator.
- the target speed setting device 13 sets the setting state of the fuel dial 11 and the mode switch
- the target speed of the revolving unit 4 is set based on the setting state and the tilt angle of the swivel lever 10 (usually used as the work equipment lever for operating the arm 7), and output to the swivel control device 100.
- the engine 14 drives a hydraulic pump 19 serving as a hydraulic pressure source for each of the hydraulic cylinders 21 to 23, and a power generation motor 15.
- a hydraulic pump 19 serving as a hydraulic pressure source for each of the hydraulic cylinders 21 to 23, and a power generation motor 15.
- the boom cylinder 21 uses the boom 6 (see FIG. 2)
- the arm cylinder 22 uses the arm 7 (see FIG. 2)
- the packet cylinder 23 uses the packet 8 (see FIG. 2).
- the right traveling motor 24 and the left traveling motor 25 are hydraulic motors
- the hydraulic pump 19 is also used as a hydraulic source.
- the combination of the generator motor 15, the inverter 16, and the capacitor 17 serves as a power source of the electric motor 5.
- the generator motor 15 also functions as a generator also serving as an electric motor.
- the electric motor 5 drives the swing body 4 to swing through the swing circle 3.
- the electric motor 5 is provided with a rotation speed sensor 18.
- the rotation speed sensor 18 detects the rotation speed of the electric motor 5, and the rotation speed is fed back to the turning control device 100.
- the turning control device 100 is a control gain based on the target speed of the revolving unit 4 set by the target speed setting device 13 and the rotation speed of the electric motor 5 detected by the rotation speed sensor 18. Speed control is performed by P control (proportional control) using the speed gain K, and a torque command value that is a control command for the electric motor 5 is generated.
- the turning control device 100 is an inverter, and converts a torque command value into a current value and a voltage value, outputs the current value and the voltage value to the electric motor 5, and controls the torque output of the electric motor 5.
- the turning control device 100 may be other than an inverter as long as it can issue an instruction to drive the electric motor by, for example, switching.
- FIG. 1B and FIG. 2 show the electric swing shovel 1 that is swinging downward in the middle. Even so, the rotating body loses the weight of the boom 6 and the arm 7 and cannot be completely stopped, and may move as it slides to the lowest position.
- FIG. 4 shows the relationship between the lever operation amount, the target speed, and the actual speed of the electric motor 5 when the swing lever 10 is returned to the ⁇ Eutral position in order to stop the swing body 4. I have.
- the target speed setting device 13 lowers the target speed so as to follow the delay slightly (two-dot chain line). . Further, under the control of the swing body 4 of the swing control device 100, the actual speed also follows the target speed slightly behind (curved solid line). This is because the braking torque corresponding to the deviation between the target speed and the actual speed is output from the electric motor 5.
- the target speed setting device 13 sets the target speed such that it becomes "0" at the time of the arrow B. Set. Along with this, the actual speed of the revolving unit 4 also goes to “0”. However, according to the speed control described above, since the weight of the boom 6 and the arm 7 is extremely large, the revolving superstructure 4 flows further downward by overcoming the braking torque, and turns at a low speed indicated by a chain line. Resulting in.
- the braking torque is still generated due to the slight deviation between the actual speed indicated by the dashed line and the target speed “0”, but the speed gain K is set relatively small in consideration of maneuverability. Therefore, even if the maximum braking torque based on this deviation is generated, the braking torque loses the weight of the boom 6 and the arm 7.
- the turning control device 100 of the present embodiment includes a target speed determining unit 140 that determines whether the target speed has fallen below the speed threshold V shown in FIG.
- Control system changing means 150 for switching the control law from speed control to position control according to the result is provided.
- the turning control device 100 includes a turning position output unit 110, a control command generating unit 130, a target speed determining unit 140, a control system changing unit 150, a reference position storing unit 120, and a reference position updating unit 160.
- the turning position output means 110 integrates the rotation speed of the electric motor 5 output from the rotation speed sensor 18 and outputs the result as turning position information of the revolving unit 4.
- the reference position storage means 120 uses a RAM (Random Access Memory), and stores the output value of the turning position output means 110 as a reference position.
- the reference position stored in the reference position storage means 120 is updated by the turning position of the revolving superstructure 4 at that time according to the determination result of the target speed determining means 140.
- the control command generation means 130 generates and outputs a control command for the electric motor 5.
- the control command generating means 130 performs two different controls by switching the control law.
- One control is based on the target speed of the revolving unit 4 set by the target speed setting device 13 and the rotation speed of the electric motor 5 detected by the rotation speed sensor 18, and the speed at which P (Proportional: proportional) control is performed.
- the other control is position control for performing P control (proportional control) based on the output value of the turning position output means 110 and the reference position stored in the reference position storage means 120.
- the control command generating means 130 controls the speed control in operations other than stopping the revolving unit 4, such as when starting the revolving unit 4 to turn, increasing the revolving speed during the revolving operation, and decreasing the revolving speed during the revolving operation. Used as normal control.
- the speed control of the control command generation means 130 compares the target speed set by the target speed setting device 13 with the rotation speed of the electric motor 5 fed back to the turning control device 100.
- a torque command value which is a control command for the electric motor 5, is generated by multiplying by the gain K.
- the speed gain K is set in consideration of the maneuverability of the electric swing shovel 1 and the like, and if it is too large, the torque is generated rapidly and the movement of the swing body 4 becomes harder. If it is too small, the swing motion of the swing body 4 becomes slow.
- the torque command value of the electric motor 5 is generated in accordance with the deviation between the fed-back rotation speed of the electric motor 5 and the target speed. If the value does not increase, the control command generation means 130 increases the torque command value and Control is performed so as to approach the target speed.
- control is speed control by general P control.
- the control command generation means 130 performs position control.
- the value of the speed gain K in the position control is the same as that in the case of the speed control, but the control command generating means 130 stores the turning position output means 110 in the turning position where the force is also fed back and the reference position storing means 120.
- the deviation from the set reference position is amplified by multiplication with the position gain Kp to generate a larger target speed than the target speed setting device 13 generates.
- the control command generating means 130 generates a torque command value larger than that at the time of speed control, so that the braking torque output by the electric motor 5 also increases. In this way, the swing control device 100 can maintain the stationary state of the swing body 4 by counteracting the weight of the boom 6 and the arm 7 with the braking torque and balancing.
- the target speed determination means 140 determines whether or not the operator has requested the revolving unit 4 to stop. Specifically, the target speed determination means 140 determines whether the target speed of the electric motor 5 generated by the target speed setting device 13 has fallen below a predetermined threshold.
- the control system changing means 150 switches the control law of the control command generating means 130 as a change of the control system of the turning control device 100 in accordance with the determination result of the target speed determining means 140.
- the switching of the control law by the target speed determining means 140 and the control system changing means 150 will be described later.
- the reference position updating unit 160 updates the reference position stored in the reference position storage unit 120 according to the result of the determination by the target speed determining unit 140. That is, the reference position updating means 160 updates the reference position stored in the reference position storage means 120 with the output value of the turning position output means 110 in a normal operation by the operator other than stopping the revolving unit 4. .
- the force at the time when the target speed has been determined to be “0” by the target speed determination means 140 does not update the reference position and maintains the value as it is.
- the reference position at this time is a position where the revolving unit 4 should be stopped, and is a target revolving unit position.
- the target speed determination means 140 determines whether or not the target speed has reached the speed threshold value V when the turning lever 10 is returned to -Eutral by the stop operation (Step 11: In the drawing and in the following, the steps are not performed). Simply abbreviated as "S"). Thereby, it is determined whether the swing lever 10 has been returned to the -eutral state by the operator, that is, whether the operator has requested the stop of the swing body 4 or not.
- control system changing means 150 switches the control law of the control command generating means 130 from speed control to position control (S12).
- the creation of the control command by the speed control and the position control is as described in the previous paragraph based on FIG.
- the reference position updating means 160 maintains the reference position stored in the reference position storage means 120 (S14).
- the control system changing means 150 does not switch the control law in the control command generating means 130 and maintains the speed control as it is (S13).
- the control is returned from the position control to the speed control again.
- the reference position updating means 160 updates the reference position stored in the reference position storage means 120 (S15).
- the control system changing means 150 provided in the swing control device 100 is activated. Since the control law is switched to the speed control force position control, a larger braking torque can be output to the electric motor 5 than in the case of the speed control, and the stationary state of the revolving unit 4 can be reliably maintained.
- FIG. 8 shows a second embodiment of the present invention.
- the control system changing means 150 of the turning control device 100 changes the control system of the turning control device 100 by changing the control law of the control command generating means 130 from the speed control of the P control to PI (Proportional Integral: proportional). Switch to speed control of integral) control. Therefore, since the position control is not performed in the present embodiment, the turning position output unit, the reference position storage unit, and the reference position storage unit update unit in the first embodiment are not provided. Other configurations are the same as those of the first embodiment.
- the deviation between the target speed and the actual speed after the target speed becomes “0” is regarded as a residual deviation in the speed control by the normal P control.
- the PI control of the control command generation means 130 In the speed control by the PI control of the control command generation means 130, a slight residual deviation is accumulated over time, At the point in time when the specified size is reached, a torque command is added to operate so as to eliminate the deviation. Therefore, the turning control device 100 can output a braking torque larger than that of the normal control, and the stationary state of the revolving unit 4 can be reliably maintained.
- the speed gain K remains the same, so it is possible to maintain good riding comfort and maneuverability
- the control structure of the turning control device 100 includes an operation state determining unit 170, a control command generating unit 130, a target speed determining unit 140, a control system changing unit 150, and a control gain. It is composed of storage means 190.
- the control law of the control command generating means 130 is not changed, and the speed gain K as the control gain is changed to a larger value, thereby the stationary state of the revolving unit 4. Is configured to be maintained.
- the control gain storage means 190 stores a plurality of speed gains of the swing body 4 used for switching the speed gain at this time.
- an operation state determination means 170 is provided, and the operation amount of the turning lever 10 is “0”, that is, whether the operation amount is in the ⁇ Eutral position. Is determined. Thus, it is determined that the operation of the operator is an operation for surely stopping the revolving unit 4.
- the electric turning shovel 1 (see FIG. 2) of the present embodiment is provided with an inclination output means 180, and the electric turning shovel 1 performs an operation. Information on the degree of surface inclination is output to control system changing means 150.
- Control system changing means 150 switches the speed gain as a change of the control system of turning control device 100 in accordance with the judgment results of operation state judging means 170 and target speed judging means 140. At that time, the control system changing means 150 calls up the value of the speed gain K corresponding to the degree of inclination from the control gain storage means 190 and switches based on the output signal of the inclination output means 180. That is, the control gain storage means 190 stores a table, a map, or the like that associates the degree of inclination with the speed gain.
- control command generation means 130 is the same as the speed control of the control command generation means 130 in the first embodiment, and the target speed determination means 140 is the same as in the first embodiment. Here, the description is omitted. Further, since the position control is not performed in the present embodiment, the turning position output unit, the reference position storage unit, and the reference position storage unit updating unit in the first embodiment are provided.
- the operation of the turning control device 100 in particular, the target speed determining means 140, the operation state determining means 170, and the control system changing means 150 will be described.
- the operation state determining means 170 determines that the signal indicating the lever operation amount from the turning lever 10 (see FIG. 9) is “0”, that the turning lever 10 is at ⁇ Eutral (S31), and that the target
- the control system changing means 150 switches the normal speed gain K to a large gain based on the output signal from the inclination output means 180. (S33).
- the control system changing means 150 Does not switch the speed gain K (S34). Also in the present embodiment described above, when a stop determination is made, the control system changing means 150 switches the speed gain K to a large value, so that a larger braking torque can be output, and the rotating body 4 Can be kept stationary.
- the speed gain K is switched to a large value only when the stop is determined, so that the speed gain K can be kept small during a turn other than the stop, and there is no risk of impairing the riding comfort and maneuverability.
- the present invention is not limited to the above-described embodiment, but includes other configurations that can achieve the object of the present invention, and the following modifications are also included in the present invention.
- a timer time setting means 200 and a timer time determining means 210 may be provided.
- the timer time determination means 210 determines whether or not a force has passed for a fixed time or more since the turning lever 10 was in the neutral state by the timer time (S42). When it is determined that the predetermined time has elapsed, the control system changing means switches the control law and the speed gain (S43). The timer time is set by the timer time setting means 200 in accordance with the judgment result of the timer time judgment means 210 (S45, S46).
- the target speed is directed to “0” after a certain period of time has elapsed, but in S41, it is determined that the turning lever 10 is at ⁇ Eutral.
- the timer time determination means does not directly monitor the target speed, but indirectly determines that the target speed for the revolving unit 4 has fallen below a predetermined threshold value by the passage of time. However, this corresponds to the determination means according to the present invention.
- the force described in the case where the value of the speed gain K as the control gain is changed is not limited to this.
- a brake device activation command is automatically output 5 seconds or more after the speed target becomes “0”.
- the output timing parameter may be changed so as to output the activation command at an earlier timing (for example, 2 seconds or less) on an inclined surface where the control is performed.
- the inclination output means 180 it is possible to determine whether or not to change the timing or to change the timing according to the degree of inclination.
- a speed threshold for the actual speed is set, and when the actual speed falls below this speed threshold, the control rules and control parameters are switched. Even in this case, at least when the speed target is switched when the speed target is “0”, this is included in the present invention.
- control law after switching the control parameters that can be switched, and the method of determining the timing of switching are not limited to the combinations described above, and any combination can be applied to the implementation.
- the present invention is applicable to any construction machine in which a swing body is swing-driven by an electric motor.
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Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200580014677XA CN1950574B (zh) | 2004-05-13 | 2005-05-13 | 旋转控制装置、旋转控制方法及施工机械 |
DE112005001057.0T DE112005001057B4 (de) | 2004-05-13 | 2005-05-13 | Drehsteuervorrichtung, Drehsteuerverfahren und Baumaschine |
JP2006513561A JP4972404B2 (ja) | 2004-05-13 | 2005-05-13 | 旋回制御装置、旋回制御方法、および建設機械 |
KR1020067023791A KR100888634B1 (ko) | 2004-05-13 | 2005-05-13 | 선회 제어 장치, 선회 제어 방법, 및 건설 기계 |
US11/596,206 US7615960B2 (en) | 2004-05-13 | 2005-05-13 | Rotation control device, rotation control method and construction machine |
GB0622620A GB2431248B (en) | 2004-05-13 | 2005-05-13 | Rotation control device, rotation control method, and construction machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004143644 | 2004-05-13 | ||
JP2004-143644 | 2004-05-13 |
Publications (1)
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WO2005111322A1 true WO2005111322A1 (ja) | 2005-11-24 |
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ID=35394196
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2005/008760 WO2005111322A1 (ja) | 2004-05-13 | 2005-05-13 | 旋回制御装置、旋回制御方法、および建設機械 |
Country Status (7)
Country | Link |
---|---|
US (1) | US7615960B2 (ja) |
JP (2) | JP4972404B2 (ja) |
KR (1) | KR100888634B1 (ja) |
CN (1) | CN1950574B (ja) |
DE (1) | DE112005001057B4 (ja) |
GB (1) | GB2431248B (ja) |
WO (1) | WO2005111322A1 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1961869A1 (en) * | 2007-02-21 | 2008-08-27 | Kobelco Construction Machinery Co., Ltd. | Rotation control device and working machine therewith |
JP2010159549A (ja) * | 2009-01-06 | 2010-07-22 | Kobelco Contstruction Machinery Ltd | 作業機械の旋回制御装置 |
WO2010095585A1 (ja) * | 2009-02-23 | 2010-08-26 | ナブテスコ株式会社 | 作業機械の旋回制御装置、制御プログラム及び作業機械 |
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- 2005-05-13 GB GB0622620A patent/GB2431248B/en not_active Expired - Fee Related
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WO2010095585A1 (ja) * | 2009-02-23 | 2010-08-26 | ナブテスコ株式会社 | 作業機械の旋回制御装置、制御プログラム及び作業機械 |
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CN102493522A (zh) * | 2011-12-15 | 2012-06-13 | 太原重工股份有限公司 | 矿用挖掘机产量统计方法 |
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CN103774849A (zh) * | 2014-01-03 | 2014-05-07 | 中联重科股份有限公司 | 混凝土泵车及其臂架的回转制动控制方法、装置 |
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Also Published As
Publication number | Publication date |
---|---|
US7615960B2 (en) | 2009-11-10 |
JP5181065B2 (ja) | 2013-04-10 |
JP2012122327A (ja) | 2012-06-28 |
KR20070011494A (ko) | 2007-01-24 |
CN1950574B (zh) | 2010-09-22 |
DE112005001057T5 (de) | 2007-04-12 |
JPWO2005111322A1 (ja) | 2008-03-27 |
US20070229007A1 (en) | 2007-10-04 |
DE112005001057B4 (de) | 2017-11-16 |
GB2431248B (en) | 2008-06-04 |
GB2431248A (en) | 2007-04-18 |
GB0622620D0 (en) | 2006-12-20 |
CN1950574A (zh) | 2007-04-18 |
KR100888634B1 (ko) | 2009-03-12 |
JP4972404B2 (ja) | 2012-07-11 |
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