Abstract:
The present disclosure relates to an emergency stop method for hybrid construction equipment and a brake control device, and more particularly, to an emergency stop method for hybrid construction equipment and a brake control device, which may confirm a failure occurrence location of the hybrid construction equipment, absorb inertial energy of the swing body using several functions for each generated failure location so as to stably stop the swing body in an emergency manner, and when the failure occurs in the hybrid construction equipment, create the brake pattern by using the swing speed or the front information, control a brake of the swing body by controlling a voltage control valve or a hydraulic valve in accordance with the created brake pattern, such that a user may smoothly stop the swing body in accordance with a desired stop speed profile.

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
       [0001]    This Application is a Section 371 National Stage Application of International Application No. PCT/KR2012/011543, filed Dec. 27, 2012 and published, not in English, as WO 2013/100617 on Jul. 4, 2013. 
     
    
     FIELD OF THE DISCLOSURE 
       [0002]    The present disclosure relates to an emergency stop method for hybrid construction equipment and a brake control device, and particularly, to an emergency stop method for hybrid construction equipment and a brake control device, which may stably stop a swing body in an emergency manner body by confirming a failure occurrence location of hybrid construction equipment, and absorbing inertial energy of the swing body using several functions for each generated failure location, and may smoothly stop the swing body by determining a brake pattern in a case in which an emergency stop needs to be performed, and controlling a hydraulic brake in accordance with the determined brake pattern. 
       BACKGROUND OF THE DISCLOSURE 
       [0003]    Recently, researches on hybrid type construction equipment, which improves fuel efficiency by storing surplus power of an engine in a battery, and supplying power from the battery to the engine that does not have sufficient power so as to cope with a rapid increase in oil price, are being actively conducted. 
         [0004]    A system, which uses the engine and an electric motor as a common power source as described above, and has an electrical energy storage device, is referred to as a hybrid system. For example, as the hybrid system, there is a hybrid system for heavy equipment such as a hybrid vehicle, and an excavator. 
         [0005]      FIG. 1  is a configuration diagram of an electric power conversion device for general hybrid construction equipment. 
         [0006]    As illustrated in  FIG. 1 , an electric power conversion device for hybrid construction equipment includes an engine auxiliary motor  110 , an engine side inverter  111 , a swing motor  120  having a brake, a swing side inverter  121 , an ultracapacitor  130 , and a converter  131 . 
         [0007]    The engine side inverter  111  operates the engine auxiliary motor  110  using a motor or an electric generator. 
         [0008]    The swing motor  120  operates an upper swing body of a hybrid excavator. The swing side inverter  121 , which operates the swing motor  120 , performs an acceleration operation and a deceleration operation depending on lever control by a user who manipulates the hybrid excavator. The swing side inverter  121  operates the swing motor  120  using a motor at the time of an acceleration operation. In contrast, the swing side inverter  121  operates the swing motor  120  using an electric generator at the time of a deceleration operation. That is, the swing side inverter  121  converts rotational inertial energy of the upper swing body of the hybrid excavator into electrical energy. 
         [0009]    The ultracapacitor  130  serves to store electrical energy, and is connected with the converter  131  that controls a charge operation and a discharge operation. 
         [0010]      FIG. 2  is a flowchart of an exemplary embodiment regarding a failure occurrence process in an electric power conversion device for general hybrid construction equipment. 
         [0011]    As illustrated in  FIG. 2 , the electric power conversion device in the related art stops all operations when failure occurs in the electric power conversion device (S 202 ). 
         [0012]    Specifically, the electric power conversion device turns off the engine side inverter  111  of the engine auxiliary motor  110  (S 202 ). In addition, the electric power conversion device turns off the swing side inverter  121  of the swing motor  120  (S 206 ). Next, the swing motor  120  undergoes a regeneration process of the swing motor  120  (S 208 ), and Vdc is in an overvoltage state (S 210 ). In addition, the electric power conversion device turns off the converter  131  at the ultracapacitor (UC)  130  side (S 212 ). 
         [0013]    As described above, in the hybrid excavator, the upper swing body is freely rotated before a braking operation when the electric power conversion device is stopped, unlike a hydraulic excavator, and thus there is a problem in that a risk of an accident is greatly increased in this case. When the swing body is continuously rotated, there is a problem in that a peripheral area of the work environment may be damaged. 
         [0014]    In order to reduce the aforementioned damage, the rotation of the swing body is blocked, and a swing brake is operated until inertial energy is exhausted. A brake control manner in the related art produces a brake off command when a swing speed is a predetermined value or less. The hydraulic brake is operated with a predetermined delay after the brake off command is generated. In this case, there is a problem in that when the braking operation is immediately performed using a mechanical swing brake in a case in which a large amount of inertial energy remains because a speed of the swing body is high immediately before failure occurs, impact may be applied to a user, and the excavator may be turned over on a slope. 
         [0015]    The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter. 
       SUMMARY 
       [0016]    This summary and the abstract are provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. The summary and the abstract are not intended to identify key features or essential features of the claimed subject matter, nor are they intended to be used as an aid in determining the scope of the claimed subject matter. 
         [0017]    The present disclosure has been made in consideration of the aforementioned problem, and an object of the present disclosure is to provide an emergency stop method for hybrid construction equipment, which may absorb inertial energy of a swing body by confirming a failure occurrence location of hybrid construction equipment and using several functions for each generated failure location, thereby stably stopping the swing body in an emergency manner. 
         [0018]    Meanwhile, the present disclosure has been made in consideration of the aforementioned problem, and another object of the present disclosure is to provide a brake control device for construction equipment, by which a user may smoothly stop a swing body in accordance with a desired stop speed profile by creating a brake pattern from a swing speed or front information when failure occurs in hybrid construction equipment, and by controlling a brake operation of the swing body by controlling a voltage control valve or a hydraulic valve in accordance with the created brake pattern. 
         [0019]    To this end, a method according to the present disclosure includes: confirming a failure occurrence location at a swing side, an engine side, and an ultracapacitor side of the hybrid construction equipment; turning off an inverter or a converter connected with the confirmed failure occurrence location; and operating the inverter or the converter at a location that is not the confirmed failure occurrence location, and absorbing inertial energy of a swing body through an ultracapacitor or an engine auxiliary motor so as to perform an emergency stop. 
         [0020]    To this end, a device according to the present disclosure includes: a brake for stopping a swing body when failure occurs in the construction equipment; a drive valve which is formed in a hydraulic manner or a voltage controlled manner, and controls pressure or an amount of fluid applied to the brake; and a control unit which determines a brake pattern using front information or a swing speed of the swing body, and controls the drive valve while creating a voltage control signal or a hydraulic pressure control signal so that the swing body is stopped depending on the determined brake pattern. 
         [0021]    The present disclosure has an effect in that inertial energy of the swing body is absorbed by confirming a failure occurrence location of the hybrid construction equipment and using several functions for each generated failure location, thereby stably stopping the swing body in an emergency manner. 
         [0022]    In addition, the present disclosure has an effect in that a user may quickly cope with a situation after the emergency stop by displaying the failure occurrence location and the emergency stop situation to the user. 
         [0023]    In addition, the present disclosure has an effect in that impact to the user at the time of braking may be reduced because of a stable emergency stop of the swing body, and a risk of turning over the construction equipment when the construction equipment is located on a slope may be reduced. 
         [0024]    Meanwhile, the present disclosure has an effect in that the user may smoothly stop the swing body in accordance with a desired stop speed profile by creating a brake pattern using a swing speed or front information when failure occurs in the hybrid construction equipment, and by controlling the brake operation of the swing body by controlling a voltage control valve or a hydraulic valve in accordance with the created brake pattern. 
         [0025]    That is, the present disclosure has an effect in that the user may smoothly stop the swing body using the desired stop speed profile by controlling the hydraulic valve in a pulse width modulation manner. In addition, the present disclosure has an effect in that the user may select or calculate a desired brake pattern using the voltage control valve, and smoothly stop the swing body. 
         [0026]    In addition, the present disclosure has an effect in that the brake control device may be simplified because the swing body may be stopped in an emergency manner without using an additional device such as an orifice in the related art, and the swing body may be stopped with various brake patterns by monitoring the front information or the swing speed. 
         [0027]    Furthermore, the present disclosure has an effect in that impact to the user at the time of braking may be reduced because of a stable emergency stop of the swing body, and a risk of turning over the construction equipment when the construction equipment is located on a slope may be reduced. 
     
    
     
       DESCRIPTION OF THE DRAWINGS 
         [0028]      FIG. 1  is a configuration diagram of an electric power conversion device of general hybrid construction equipment. 
           [0029]      FIG. 2  is a flowchart of an exemplary embodiment regarding a failure occurrence process in the electric power conversion device of the general hybrid construction equipment. 
           [0030]      FIG. 3  is an exemplified view of an exemplary embodiment regarding a deceleration graph for comparing swing speeds between the related art and the present disclosure. 
           [0031]      FIGS. 4 and 5  are an explanatory view and a flowchart of a first exemplary embodiment regarding an emergency stop process at the time of swing side failure according to the present disclosure. 
           [0032]      FIGS. 6 and 7  are an explanatory view and a flowchart of a second exemplary embodiment regarding an emergency stop process at the time of swing side failure according to the present disclosure. 
           [0033]      FIG. 8  is a flowchart of the first exemplary embodiment regarding an emergency stop process at the time of engine side failure according to the present disclosure. 
           [0034]      FIG. 9  is an exemplified view of the first exemplary embodiment regarding a swing speed at the time of engine side failure according to the present disclosure. 
           [0035]      FIG. 10  is a flowchart of the second exemplary embodiment regarding an emergency stop process at the time of engine side failure according to the present disclosure. 
           [0036]      FIG. 11  is an exemplified view of the second exemplary embodiment regarding a swing speed at the time of engine side failure according to the present disclosure. 
           [0037]      FIG. 12  is a flowchart of the exemplary embodiment regarding an emergency stop process at the time of ultracapacitor side failure according to the present disclosure. 
           [0038]      FIG. 13  is an exemplified view of the exemplary embodiment regarding a swing speed at the time of ultracapacitor side failure according to the present disclosure. 
           [0039]      FIG. 14  is a configuration diagram of an exemplary embodiment of a brake control device according to the present disclosure. 
           [0040]      FIG. 15  is a configuration diagram of a first exemplary embodiment of the brake control device according to the present disclosure. 
           [0041]      FIG. 16  is a configuration diagram of a second exemplary embodiment of the brake control device according to the present disclosure. 
           [0042]      FIG. 17  is an exemplified view of an exemplary embodiment of deceleration speed graphs of swing speeds in a case in which the brake control device according to the present disclosure is applied. 
       
    
    
     DESCRIPTION OF MAIN REFERENCE NUMERALS OF DRAWINGS 
       [0043]      110 : Engine auxiliary motor 
         [0044]      111 : Engine side inverter 
         [0045]      120 : Swing motor 
         [0046]      121 : Swing side inverter 
         [0047]      130 : Ultracapacitor 
         [0048]      131 : Ultracapacitor side converter 
         [0049]      1400 : Brake control device 
         [0050]      1410 : Brake 
         [0051]      1420 : Drive valve 
         [0052]      1421 : Hydraulic valve 
         [0053]      1422 : Voltage control valve 
         [0054]      1430 : Control unit 
       DETAILED DESCRIPTION 
       [0055]    Hereinafter, an exemplary embodiment according to the present disclosure will be described in detail with reference to the accompanying drawings. A configuration of the present disclosure and an operation and an effect according to the configuration of the present disclosure will be clearly understood by the detailed description below. In the following detailed description, it should be noted that the same elements will be designated by the same reference numerals even though the elements are illustrated in different drawings, and a detailed explanation of publicly known related configurations may be omitted so as to avoid unnecessarily obscuring the subject matter of the present disclosure. 
         [0056]      FIG. 3  is an exemplified view of an exemplary embodiment regarding a deceleration graph for comparing swing speeds between the related art and the present disclosure. 
         [0057]    When failure occurs in an electric power conversion device in the related art, a swing body is rotated while inertial energy is consumed as frictional energy such that the swing body is not quickly stopped, as indicated by reference numeral  301 . 
         [0058]    On the contrary, in the present disclosure, when failure occurs at an engine side of an electric power conversion device, the electric power conversion device charges an ultracapacitor  130  with inertial energy using a swing side inverter  121  and an ultracapacitor side converter  131  so as to absorb the inertial energy. A swing speed characteristic at this time is indicated by reference numeral  302 . 
         [0059]    In addition, when failure occurs at the ultracapacitor side, the electric power conversion device consumes the inertial energy using the swing side inverter  121  and an inverter  111  of an engine auxiliary motor  110  side. A swing speed characteristic at this time is indicated by reference numeral  303 . 
         [0060]    In addition, the electric power conversion device may allow the swing body to be stopped by further using a mechanical hydraulic brake in order to allow the swing body to be more quickly stopped while consuming the inertial energy using the swing side inverter  121  and the inverter  111  of the engine auxiliary motor  110  side. A swing speed characteristic region at this time is indicated by reference numeral  304 . 
         [0061]    As such, the electric power conversion device of the present disclosure confirms a failure occurrence location at the swing side, the engine side, or the ultracapacitor side of the hybrid construction equipment. That is, the electric power conversion device confirms engine side failure (failure in the engine auxiliary motor  110  or the engine side inverter  111 ), swing side failure (failure in the swing motor  120  or the swing side inverter  121 ), and ultracapacitor side failure (failure in the ultracapacitor  130  or the ultracapacitor side converter  131 ). Further, the electric power conversion device turns off the inverter or the converter that is connected with the confirmed failure occurrence location. In addition, the electric power conversion device operates the inverter or the converter at a location that is not the confirmed failure occurrence location, and absorbs the inertial energy of the swing body so as to perform an emergency stop. That is, the electric power conversion device distinguishes the failure occurrence location, and may safely stop the swing body in an emergency situation using some of the inverters or the converters instead of turning off all of the operations. 
         [0062]    Hereinafter, emergency stop processes at the time of the engine side failure, the swing side failure, and the ultracapacitor side failure will be described in detail. 
         [0063]      FIGS. 4 and 5  are an explanatory view and a flowchart of a first exemplary embodiment regarding an emergency stop process at the time of the swing side failure according to the present disclosure. 
         [0064]    As illustrated in  FIGS. 4 and 5 , the electric power conversion device confirms that the swing side failure (failure in the swing motor  120  or the swing side inverter  121 ) occurs (S 502 ). 
         [0065]    Further, the electric power conversion device turns off the swing side inverter  121  in which failure has occurred (S 504 ). In this case, the swing motor  120  is regenerated due to the inertial energy of the swing body (S 506 ). 
         [0066]    In addition, in the first exemplary embodiment, the electric power conversion device turns off the engine side inverter  111 , and operates the ultracapacitor side converter  131  (S 508 ). Next, the electric power conversion device performs Vdc voltage control of the ultracapacitor side converter  131  (S 510 ), and stores the inertial energy of the swing body in the ultracapacitor  130 . Accordingly, the electric power conversion device absorbs the inertial energy of the swing body while stabilizing Vdc (S 512 ). 
         [0067]    Meanwhile, in order to reduce time for deceleration of the swing body, the electric power conversion device may operate the mechanical hydraulic brake, which is provided in the swing motor  120 , so as to allow the swing body to be stopped (S 514 ). 
         [0068]      FIGS. 6 and 7  are an explanatory view and a flowchart of a second exemplary embodiment regarding an emergency stop process at the time of the swing side failure according to the present disclosure. 
         [0069]    As illustrated in  FIGS. 6 and 7 , the electric power conversion device confirms that the swing side failure (failure in the swing motor  120  or the swing side inverter  121 ) occurs (S 702 ). 
         [0070]    Further, the electric power conversion device turns off the swing side inverter  121  in which failure has occurred (S 704 ). In this case, the swing motor  120  is regenerated due to the inertial energy of the swing body (S 706 ). 
         [0071]    In addition, in the second exemplary embodiment that is different from  FIGS. 4 and 5 , the electric power conversion device turns off the ultracapacitor side converter  131 , and operates the engine side inverter  111  (S 708 ). Accordingly, the engine auxiliary motor  110  is operated as a motor that assists output of the engine. 
         [0072]    Next, the electric power conversion device performs Vdc voltage control of the engine side inverter  111  (S 710 ), and absorbs the inertial energy of the swing body using the engine auxiliary motor  110 . Accordingly, the electric power conversion device stabilizes Vdc (S 712 ). 
         [0073]    Meanwhile, in order to reduce time for deceleration of the swing body, the electric power conversion device may operate the mechanical hydraulic brake, which is provided in the swing motor  120 , so as to allow the swing body to be stopped (S 714 ). 
         [0074]      FIG. 8  is a flowchart of the first exemplary embodiment regarding an emergency stop process at the time of the engine side failure according to the present disclosure, and  FIG. 9  is an exemplified view of the first exemplary embodiment regarding a swing speed at the time of the engine side failure according to the present disclosure. 
         [0075]    As illustrated  FIG. 8 , the electric power conversion device confirms that the engine side failure (failure in the engine auxiliary motor  110  or the engine side inverter  111 ) occurs (S 802 ). 
         [0076]    Further, the electric power conversion device turns off the engine side inverter  111  in which failure has occurred (S 804 ). 
         [0077]    In addition, in the first exemplary embodiment, the electric power conversion device operates the swing side inverter  121  (S 806 ). Next, the electric power conversion device controls the swing speed to be ‘0’ (S 808 ). 
         [0078]    Meanwhile, the electric power conversion device operates the ultracapacitor side converter  131  (S 810 ). Further, the electric power conversion device performs Vdc voltage control of the ultracapacitor side converter  131  (S 812 ). 
         [0079]    Accordingly, the electric power conversion device absorbs the inertial energy of the swing body while stabilizing Vdc (S 814 ). 
         [0080]    As illustrated in  FIG. 9 , at a failure occurrence time point  902 , the inertial energy is stored in the ultracapacitor  130  through the ultracapacitor side converter  131 . Therefore, the swing speed of the swing body is slowed down with a gradient indicated by reference numeral  904 . 
         [0081]      FIG. 10  is a flowchart of the second exemplary embodiment regarding an emergency stop process at the time of the engine side failure according to the present disclosure, and  FIG. 11  is an exemplified view of the second exemplary embodiment regarding a swing speed at the time of the engine side failure according to the present disclosure. 
         [0082]    As illustrated  FIG. 10 , the electric power conversion device confirms that the engine side failure (failure in the engine auxiliary motor  110  or the engine side inverter  111 ) occurs (S 1002 ). 
         [0083]    Further, the electric power conversion device turns off the engine side inverter  111  in which failure has occurred (S 1004 ). 
         [0084]    In addition, the electric power conversion device operates the swing side inverter  121  (S 1006 ). Next, the electric power conversion device controls the swing speed to be ‘0’ (S 1008 ). 
         [0085]    Meanwhile, the electric power conversion device operates the ultracapacitor side converter  131  (S 1010 ). Further, the electric power conversion device performs Vdc voltage control of the ultracapacitor side converter  131  (S 1012 ). 
         [0086]    Accordingly, the electric power conversion device absorbs the inertial energy of the swing body while stabilizing Vdc (S 1014 ). 
         [0087]    In the second exemplary embodiment, in order to reduce time for deceleration of the swing body, the electric power conversion device may operate the mechanical hydraulic brake, which is provided in the swing motor  120 , so as to allow the swing body to be stopped (S 1016 ). 
         [0088]    As illustrated in  FIG. 11 , at a failure occurrence time point  1102 , the inertial energy is stored in the ultracapacitor  130  through the ultracapacitor side converter  131 , and the swing speed is slowed down in a shape having a gradient  1104 . In this case, a time point  1112  at which the ultracapacitor  130  is fully charged may occur. 
         [0089]    In a case in which the ultracapacitor  130  is fully charged, the inertial energy of the swing body is no longer stored in the ultracapacitor  130 , and thus the swing speed of the swing body may be slowed down in a shape having a more gradual gradient  1114 . 
         [0090]    However, when the mechanical hydraulic brake, which is provided in the swing motor  120 , is operated in order to reduce time for deceleration of the swing body, in the electric power conversion device, the swing speed may be slowed down in a shape having a steeper gradient  1116 . 
         [0091]      FIG. 12  is a flowchart of the exemplary embodiment regarding an emergency stop process at the time of the ultracapacitor side failure according to the present disclosure, and  FIG. 13  is an exemplified view of the exemplary embodiment regarding a swing speed at the time of the ultracapacitor side failure according to the present disclosure. 
         [0092]    As illustrated in  FIG. 12 , the electric power conversion device confirms that the ultracapacitor side failure (failure in the ultracapacitor  130  or the ultracapacitor side converter  131 ) occurs (S 1202 ). 
         [0093]    Further, the electric power conversion device turns off the ultracapacitor side converter  131  in which failure has occurred (S 1204 ). 
         [0094]    In addition, the electric power conversion device operates the swing side inverter  121  (S 1206 ). Next, the electric power conversion device controls the swing speed to be ‘0’ (S 1208 ). 
         [0095]    Meanwhile, the electric power conversion device operates the engine side inverter  111  (S 1210 ). Accordingly, the engine auxiliary motor  110  is operated as a motor that assists engine output of the engine. Further, the electric power conversion device performs Vdc voltage control of the engine side inverter  111  (S 1212 ). 
         [0096]    Accordingly, the electric power conversion device absorbs the inertial energy of the swing body while stabilizing Vdc (S 1214 ). 
         [0097]    Meanwhile, in order to reduce time for deceleration of the swing body, the electric power conversion device may operate the mechanical hydraulic brake, which is provided in the swing motor  120 , so as to allow the swing body to be stopped (S 1216 ). 
         [0098]    As illustrated in  FIG. 13 , at a failure occurrence time point  1302 , the inertial energy is consumed by the engine auxiliary motor  110  through the swing side inverter  121  and the engine side inverter  111 . 
         [0099]    In general, the inertial energy of the swing body has larger capacity than the inverter  111  of the engine auxiliary motor  110 , and thus the electric power conversion device cannot quickly decelerate the swing body with a gradient indicated by reference numeral  1306 , but may stop the swing body in an emergency manner with a gradient indicated by reference numeral  1304 . 
         [0100]    In order to supplement the aforementioned operations, when the electric power conversion device operates the mechanical hydraulic brake, which is provided in the swing motor  120 , in order to reduce time for deceleration of the swing body, the swing body may decelerate in a shape having a gradient in a steeper region  1308 . 
         [0101]    Meanwhile, in the case of failure such as overvoltage, by which all electric power conversion devices cannot be operated, the electric power conversion device allows the swing body to be stopped by only using the mechanical hydraulic brake provided in the mechanical swing motor  120 . 
         [0102]    Meanwhile, in a case in which the swing body is stopped in an emergency manner due to failure, the electric power conversion device may display a failure occurrence location and an emergency stop matter to a user through a monitoring device. 
         [0103]    Meanwhile, a brake control device of construction equipment at the time of an emergency stop according to the present disclosure will be described with reference to  FIGS. 14 to 17 . 
         [0104]      FIG. 14  is a configuration diagram of an exemplary embodiment of a brake control device according to the present disclosure. 
         [0105]    As illustrated in  FIG. 14 , the brake control device includes a brake  1410 , a drive valve  1420 , and a control unit  1430 . The drive valve  1420  may be a hydraulic valve  1421  or a voltage control valve (electronic proportional pressure reducing (EPPR) valve)  1422 . 
         [0106]    The brake control device  1400  controls the brake in two ways. 
         [0107]    Firstly, in a case in which the drive valve  1420  is the hydraulic valve  1421 , the brake control device  1400  applies a control signal in a pulse width modulation (PWM) manner to the hydraulic valve  1421  so as to determine a brake pattern. 
         [0108]    Secondly, in a case in which the drive valve  1420  is the voltage control valve  1422 , the brake control device  1400  determines the brake pattern depending on a predetermined stop speed profile. 
         [0109]    The brake pattern is determined using a speed or front information of the swing motor  120 , and the brake control device  1400  controls the drive valve  1420  in accordance with the brake pattern. 
         [0110]    Hereinafter, constituent elements of the brake control device of the construction equipment will be described, respectively. 
         [0111]    The brake  1410  allows the swing body to be stopped. The brake  1410  is connected with the swing motor  120 . 
         [0112]    The drive valve  1420  operates the brake  1410  in a hydraulic manner or a voltage controlled manner. The drive valve  1420  may be the hydraulic valve  1421  or the voltage control valve  1422 . The drive valve  1420  may adjust an amount or pressure of fluid discharged to the brake  1410  from a brake pump  1401  that is connected with the drive valve  1420 . 
         [0113]    The control unit  1430  determines the brake pattern using the front information or the swing speed of the swing body. That is, the control unit  1430  needs to change the brake pattern depending on a size of inertial energy of the swing body. The control unit  1430  receives an input swing speed of the swing motor  120 , and selects or calculates the brake pattern using the swing speed and the front information of the swing body. Here, states of a boom, an arm, a bucket, and the like are included in the front information in a case in which the construction equipment is an excavator, but the front information is not limited to front information of specific construction equipment. The control unit  1430  may select any one brake pattern among a plurality of brake patterns that is precalculated. In addition, the control unit  1430  may calculate the brake pattern by reflecting the swing speed and the front information to a predefined brake function. 
         [0114]    Further, the control unit  1430  creates a voltage control signal or a hydraulic pressure control signal of the drive valve  1420  depending on the determined brake pattern, and controls the drive valve  1420  so that the swing body is stopped. 
         [0115]      FIG. 15  is a configuration diagram of the first exemplary embodiment of the brake control device according to the present disclosure. 
         [0116]    As illustrated in  FIG. 15 , in a case in which the drive valve  1420  is the hydraulic valve  1421 , the hydraulic valve  1421  adjusts an amount of fluid, which is discharged from the brake pump  1401  for operating the brake  1410  connected with the swing motor  120 , in a hydraulic manner. 
         [0117]    In a case in which the drive valve  1420  is the hydraulic valve  1421 , the control unit  1430  creates the brake pattern in the pulse width modulation manner using the front information or the swing speed of the swing body. Here, the control unit  1430  may change a pressure period of the brake by adjusting a duty ratio per pulse that is turned on/off in the pulse width modulation manner. 
         [0118]    Further, the control unit  1430  controls the drive valve  1420 , which is the hydraulic valve  1421 , depending on a hydraulic pressure control signal of the created pulse width modulation manner. 
         [0119]      FIG. 16  is a configuration diagram of the second exemplary embodiment of the brake control device according to the present disclosure. 
         [0120]    As illustrated in  FIG. 16 , in a case in which the drive valve  1420  is the voltage control valve  1422 , the voltage control valve  1422  adjusts an amount of fluid, which is discharged from the brake pump  1401  for operating the brake  1410  connected with the swing motor  120 , in a voltage controlled manner. 
         [0121]    In a case in which the drive valve  1420  is the voltage control valve  1422 , the control unit  1430  creates the brake pattern in the voltage controlled manner using the front information or the swing speed of the swing body. Here, the control unit  1430  may create the brake pattern using brake pattern characteristics that may be designated by the brake pressure with respect to brake input. The brake pattern characteristics may be preset by the user, and stored in the brake control device  1400  in advance. 
         [0122]    Further, the control unit  1430  controls the drive valve  1420 , which is the voltage control valve  1422 , depending on a created hydraulic pressure control signal by the voltage control manner. 
         [0123]      FIG. 17  is an exemplified view of the exemplary embodiment regarding a deceleration speed graph of the swing speed in a case in which the brake control device according to the present disclosure is applied. 
         [0124]    As illustrated in  FIG. 17 , the brake control device  1400  sets the brake patterns so that the brake patterns are varied depending on a size of the inertial energy of the swing body. The brake control device  1400  may select or calculate the brake pattern using the measured swing speed or the front information of the swing body. 
         [0125]    A graph in which the swing body is changed to a stopped state on the basis of the failure occurrence time point  1700  is illustrated in  FIG. 4 . 
         [0126]    An upper end swing speed profile  1710  refers to a swing speed in a case in which the swing body is immediately stopped. A lower end swing speed profile  1720  refers to a swing speed that is slowed down depending on the brake pattern of the present disclosure. 
         [0127]    The user may directly receive impact due to the hydraulic brake  1410  in the upper end swing speed profile  1710 . In addition, there is a risk that the construction equipment is turned over in a case in which the construction equipment is placed on a slope. 
         [0128]    In the lower end swing speed profile  1720 , a swing speed after failure occurs in the construction equipment is illustrated. Here, area (integration)  1722  until the swing speed becomes ‘0’ is a movement distance of the swing body. In the lower end swing speed profile  1720 , a rotational distance of the swing body may be more increased than the upper end swing speed profile  1710  when the swing body is immediately stopped depending on a stop speed profile. 
         [0129]    From the foregoing, it will be appreciated that the exemplary embodiments of the present disclosure have been described herein for purposes of illustration, and that various modifications may be made by those skilled in the art without departing from the scope and spirit of the present disclosure. The exemplary embodiments disclosed in the specification of the present disclosure will not limit the present disclosure. The scope of the present disclosure will be interpreted by the claims below, and it will be construed that all techniques within the scope equivalent thereto belong to the scope of the present disclosure.