Patent ID: 7772792

Claim:
A swing control device that controls a rotary body rotated by an electric motor, the swing control device comprising: a velocity command value generator that generates a velocity command value for the electric motor; an acceleration command value calculator that calculates an acceleration command value based on the velocity command value generated by the velocity command value generator; a feed-forward torque command generator that generates a feed-forward torque command value based on the acceleration command value calculated by the acceleration command value calculator; and a torque command value generator that: generates a first torque command value based on a deviation between the velocity command value generated by the velocity command value generator and a measured velocity of the rotary body; generates a second torque command value with a larger absolute value than the first torque command value by adding the feed-forward torque command value generated by the feed-forward torque command generator to the first torque command value generated by the torque command value generator; and outputs one of the first torque command value and the second torque command value.