Rotation control device of work machine and work machine equipped with same
A slewing control device is used for a crane that includes an upper slewing body, a lower travelling body, a slewing drive unit, and an attachment. A controller in the slewing control device enables the slewing drive unit to operate based on feedforward control to slew the upper slewing body at a target slewing speed. The controller generates a corrected command signal by correcting a reference command signal set in advance in response to a predetermined target slewing speed, based on information about a variation factor causing the slewing speed to vary. The controller inputs the corrected command signal to the slewing drive unit.
1 . A slewing control device for a work machine, the slewing control device being used for the work machine including:
a lower body;
an upper slewing body supported by the lower body so as to be slewable;
a slewing drive unit to slew the upper slewing body through driving force according to amplitude of an input command signal; and
an attachment supported by the upper slewing body so as to be pivotable in a derricking direction,
wherein the slewing control device comprises a controller to enable the slewing drive unit to operate based on feedforward control to slew the upper slewing body at a predetermined target slewing speed, the controller being configured to generate a corrected command signal by correcting a reference command signal set in advance in response to the predetermined target slewing speed, based on information about a variation factor causing slewing speed to vary, the controller being configured to input the corrected command signal to the slewing drive unit.
2 . The slewing control device for a work machine according to claim 1 , wherein the variation factor includes an external variation factor related to a work site for the work machine.
3 . The slewing control device for a work machine according to claim 2 , further comprising a wind information acquisition unit configured to acquire wind information including at least one of a volume of a wind and a direction of the wind at the work site,
wherein the external variation factor includes the wind information.
4 . The slewing control device for a work machine according to claim 3 , further comprising a slewing angle detector configured to detect a slewing angle of the upper slewing body with respect to the lower body,
wherein the wind information includes the direction of the wind, and
the controller corrects the reference command signal based on at least the direction of the wind and the slewing angle.
5 . The slewing control device for a work machine according to claim 3 , further comprising a working radius acquisition unit configured to acquire information about a working radius of the attachment,
wherein the controller corrects the reference command signal based on at least the wind information and the working radius.
6 . The slewing control device for a work machine according to claim 2 , further comprising an inclination detector configured to detect an angle of inclination of the upper slewing body at the work site with respect to a horizontal plane,
wherein the external variation factor includes the angle of the inclination.
7 . The slewing control device for a work machine according to claim 6 , further comprising a slewing angle detector configured to detect a slewing angle of the upper slewing body with respect to the lower body,
wherein the controller corrects the reference command signal based on at least the angle of the inclination and the slewing angle.
8 . The slewing control device for a work machine according to claim 6 , further comprising a working radius acquisition unit configured to acquire information about a working radius of the attachment,
wherein the controller corrects the reference command signal based on at least the angle of the inclination and the working radius.
9 . The slewing control device for a work machine according to claim 1 , further comprising a load detector configured to detect a load of a hoist cargo suspended from a distal end of the attachment,
wherein the controller corrects the reference command signal based on at least the load.
10 . The slewing control device for a work machine according to claim 1 , wherein the variation factor includes an internal variation factor related to the work machine.
11 . The slewing control device for a work machine according to claim 10 , wherein
the internal variation factor includes a factor causing slewing speed of the upper slewing body in a non-connection state to vary, and
the non-connection state is a state in which the attachment is detached from the upper slewing body.
12 . The slewing control device for a work machine according to claim 1 , wherein
the slewing drive unit includes:
a slewing motor that receives hydraulic oil and rotates to slew the upper slewing body; and
a valve mechanism that opens so as to change a flow rate of the hydraulic oil supplied to the slewing motor in response to the input command signal.
13 . The slewing control device for a work machine according to claim 1 , wherein the controller receives information about the variation factor and corrects the reference command signal through a neural network.
14 . A work machine comprising:
a lower body;
an upper slewing body supported by the lower body so as to be slewable;
a slewing drive unit to slew the upper slewing body through driving force according to amplitude of an input command signal;
an attachment supported by the upper slewing body so as to be pivotable in a derricking direction; and
the slewing control device for a work machine according to claim 1 .
15 . The slewing control device for a work machine according to claim 7 , further comprising a working radius acquisition unit configured to acquire information about a working radius of the attachment,
wherein the controller corrects the reference command signal based on at least the angle of the inclination and the working radius.