Construction machine drive device, construction machine and construction machine drive program

摘要

PROBLEM TO BE SOLVED: To enhance the operability by enabling the shifting of control from torque control to objective velocity to be performed properly, and preventing the sudden change of acceleration/deceleration velocity of an electric actuator, in a construction machine such as a hydraulic power shovel, etc. SOLUTION: According to the drive direction of the electric actuator and according as it is in acceleration or deceleration, in procedures 119, 123, 127 and 131; objective torque Tri1 , etc., is obtained from an operation command signal Xi. In procedures 120, 124, 128 and 132; objective torque Tri2 , etc., is obtained from a velocity deviation signal Vi. In procedures 121, 125, 129 and 133; maximum tolerable torque Tri3 , etc., is obtained from a real velocity signal Vi. In procedures 122, 126, 130 and 134; the one the smallest in absolute value is selected among them, and it is made the objective torque Tri0 , thus controlling the electric actuator.