Slewing stop control apparatus and method for slewing type working machine

摘要

This invention provides a slewing stop control apparatus and method, capable of executing, while performing the control of determining the target slewing velocity (ωs) based on a remaining slewing angle (θr) from the actual slewing motion position up to the slewing stop angular position (θsl,θsr), an automatic control of re-slewing the slewing structure (12) having been stopped before the slewing stop angular position due to disturbance to move it to the slewing stop angular position without inconvenience. When the slewing structure stops before the slewing stop angular position due to disturbance despite the foregoing control, the target slewing angular velocity (ωo) is corrected to be increased for generating slewing torque to restart the slewing.