Drive control device for rotating work machine and rotating work machine provided with same

A drive control apparatus for a slewing-type working machine, comprising:

• a hydraulic pump;
• a slewing motor that slews an upper slewing body supporting a working device having a first movable part;
• a first actuator that moves the first movable part;
• a slewing control valve between the hydraulic pump and the slewing motor that has an adjustable opening degree for changing a flow rate of hydraulic oil to be supplied from the hydraulic pump to the slewing motor;
• a compensation control valve between the hydraulic pump and the first actuator that has an adjustable opening degree for changing a flow rate of hydraulic oil to be supplied from the hydraulic pump to the first actuator;
• a slewing manipulation device that receives a slewing manipulation for actuating the slewing motor;
• a first manipulation device that receives a first manipulation for actuating the first actuator;
• and
• a controller that adjusts, during a combined manipulation of the first manipulation and the slewing manipulation, the opening degree of the compensation control valve to cause an actual slewing acceleration to reach a target slewing acceleration according to a manipulation amount of the slewing manipulation,
• wherein, during the combined manipulation, the controller calculates a target slewing torque relevant value relevant to a target slewing torque by using the target slewing acceleration and a moment of inertia around a slewing axis of a rotation body including the upper slewing body and the working device, and adjusts the opening degree of the compensation control valve to cause an error between the target slewing torque relevant value and an actual slewing torque relevant value relevant to an actual slewing torque to approach zero.