JPH11222384A - Revolution control device for construction machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To effectively prevent shocks and hunting at the time of an abrupt operation start and a stop without spoiling responsiveness to various operating forms. SOLUTION: When hydraulic pilot valves 6(6L and 6R) is operated by an operation of an operating lever 5, pressure oil discharged from a hydraulic pump 2 flows in a hydraulic motor 3 for a revolution bypassing a control valve 4 for a revolution. Frequency component of 2 Hz to 4 Hz is extracted from among a deviation signal of a pair of pressure sensors provided on a seat of a driving seat to use as a swinging signal of an operator. When the swinging signal exceeds a threshold level, revolution command pressure is processed by means of retarding treatment to output a valve driving signal to proportional electromagnetic pressure control valves 8L, 8R, and when the swinging signal is less than the threshold level, the valve driving signal is outputted to the proportional electromagnetic pressure control valves 8L, 8R without applying means of retarding treatment to the revolution command pressure. The control valve 4 for revolution is driven by the proportional electromagnetic pressure control valves 8L, 8R based on the valve driving signal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a swing control device for a construction machine such as a crane.

[0002]

2. Description of the Related Art Conventionally, various systems have been proposed for effectively suppressing hunting that occurs when a turning operation lever of a crawler crane or a hydraulic shovel is suddenly operated to start or stop. When the operator is shaken by the inertial force due to sudden operation at the time of starting or stopping, the turning lever is operated in an unintended direction, that is, the starting lever is operated in the neutral direction, at the stop, the turning lever is operated in the turning direction, The operation in the reverse direction intended to suppress this may be repeated. Such a turning vibration phenomenon is called hunting. Japanese Patent Application Laid-Open Nos. H8-177085 and H8-199631 propose methods for suppressing such hunting.

(1) Japanese Patent Application Laid-Open No. H8-177085 discloses a swing hydraulic circuit of a construction machine having a multi-joint working front. The hydraulic circuit includes a hydraulic pilot valve operated by a swing operation lever, a directional switching valve disposed between the hydraulic pump and the slewing hydraulic motor, and a hydraulic pilot valve and a pilot port of the directional switching valve. A variable electromagnetic pressure control valve, and a controller that outputs to the variable electromagnetic pressure control valve an output signal obtained by adding a delay element to the detected value of the command pressure from the hydraulic pilot valve, , To prevent shock and hunting when the turning operation lever is suddenly operated. That is,
The command pressure output by operating the hydraulic pilot valve is detected by a pressure sensor, and after a predetermined delay time from the detection, the variable electromagnetic pressure control valve is driven to drive the direction control valve.

(2) The hydraulic circuit disclosed in Japanese Patent Laid-Open Publication No. Hei 8-199631 discloses that when the turning operation lever is returned to neutral, the operator unconsciously turns the turning operation lever by the inertia force at the time of stopping the turning body. Is operated to the original turning operation side, if the switching time to the return direction is shorter than the reference time, it is determined that the operation is unconscious by the operator, and the flow rate flowing to the turning hydraulic motor is reduced. , To prevent shock and hunting when stopping.

[0005]

However, in the swing hydraulic circuit of the above (1), the shock can be reduced even if the delay element is relatively small, but it is suppressed when hunting occurs. The effect is small. In addition, hunting can be suppressed by increasing the delay element so as not to be affected by the hunting frequency of 2 to 4 Hz. However, when the delay is increased, the responsiveness is reduced.

Further, in the turning hydraulic circuit of the above (2), as described above, the effect can be obtained only at the time of the specific operation of operating the turning operation lever in the neutral direction and again operating in the original operation direction. Therefore, it cannot cope with other irregular operations.

An object of the present invention is to provide a construction machine turning control device capable of effectively preventing shock and hunting at the time of stopping without impairing responsiveness to various operation modes.

[0008]

FIG. 1 shows an embodiment of the present invention.
Explanation will be given in association with. (1) According to the first aspect of the present invention, the hydraulic pump 2, a hydraulic motor 3 for turning which drives a revolving unit by hydraulic oil discharged from the hydraulic pump 2, and a flow of oil discharged from the hydraulic pump 2 are controlled. A turning control valve for controlling the driving of the turning hydraulic motor; and operating means for outputting a command signal for driving the turning control valve when operated by an operator during the turning operation. Applied to a turning control device of a construction machine. Then, the swing detecting means 10 for detecting the swing of the operator, and the valve drive control means 8L, 8R, 11 for driving and controlling the turning control valve 4 based on the swing of the operator detected by the swing detecting means 10 and the command signal. By achieving the above, the above object is achieved. (2) According to a second aspect of the present invention, in the turning control device according to the first aspect, the magnitude of the swing of the operator detected by the swing detecting means 10 is set in advance in the valve drive control means 8L, 8R, and 11. When the threshold value is larger than the threshold value, the swing control valve 4 is driven based on the detected swing and the command signal. (3) According to a third aspect of the present invention, in the turning control device according to the second aspect, a setting means for arbitrarily setting a threshold value is provided. (4) The turning control device according to any one of claims 1 to 3, wherein the operating means outputs hydraulic pilot valves 6L, 6R for outputting pilot hydraulic pressure according to the operation amount.
The turning control valve 4 is a control valve whose operation amount is controlled by a pilot oil pressure supplied to a pilot port, and the valve drive control means includes hydraulic pilot valves 6L and 6L.
Proportional electromagnetic pressure control valves 8L, 8R for controlling the pilot oil pressure supplied from R based on the drive signal to generate a supply pressure to the pilot port of the turning control valve 4, and responding to the pilot oil pressure and the detected swing. And a control circuit 11 for generating the drive signal. (5) According to a fifth aspect of the present invention, in the turning control device according to any one of the first to third aspects, the operating means is an electric operation lever device 65 that outputs an electric signal according to an operation amount. The control valve 4 is a control valve whose operation amount is controlled by a hydraulic pilot supplied to a pilot port, and the valve drive control means determines the supply pressure to the pilot port of the turning control valve 4 based on a drive signal. It is characterized by comprising proportional electromagnetic pressure control valves 8L and 8R for controlling, and a control circuit 11 for generating the drive signal in accordance with an electric signal and detected swing. (6) The invention of claim 6 controls the hydraulic pump 2, the hydraulic motor 3 for turning which drives the revolving unit by the hydraulic oil discharged from the hydraulic pump 2, and the flow of the oil discharged from the hydraulic pump 2. A hydraulic pilot type turning control valve 4 for controlling the driving of the turning hydraulic motor 3 and a hydraulic pilot valve 6L for outputting a turning command pressure for driving the hydraulic pilot type turning control valve 4 according to an operation amount by an operator. , 6R. And a shaking detecting means 10 for detecting shaking of the operator;
Proportional electromagnetic pressure control that is provided between the hydraulic pilot valves 6L and 6R and the pilot port of the hydraulic pilot type swing control valve 4 and controls the swing command pressure to output to the pilot port of the hydraulic pilot type swing control valve 4 Valve 8L, 8
R, pressure detecting means 9L and 9R for detecting the turning command pressure output from the hydraulic pilot valves 6L and 6R, and when the turning command pressure is detected by the pressure detecting means 9L and 9R, (a) the swing detecting means 10 When the magnitude of the swing of the operator detected in step (b) is larger than a predetermined threshold value, the proportional electromagnetic pressure control valves 8L and 8R are controlled based on the detected swing command pressure and the swing, and (b) When the magnitude of the detected swing is smaller than a preset threshold value, the proportional electromagnetic pressure control valve 8 is controlled based on the detected turning command pressure.
The above object is achieved by providing the valve drive control means 11 for controlling L and 8R. (7) According to a seventh aspect of the present invention, in the turning control device according to the sixth aspect, the turning control device further comprises a setting means for arbitrarily setting a threshold value. (8) According to an eighth aspect of the present invention, the hydraulic pump 2, the hydraulic motor 3 for rotating the rotating body by the hydraulic oil discharged from the hydraulic pump 2, and the flow of the hydraulic oil discharged from the hydraulic pump 2 are controlled. The present invention is applied to a construction machine turning control device including a turning control valve 4 for controlling the driving of a turning hydraulic motor 3 and operating means 5, 6L, 6R operated by an operator during turning operation to output a command signal. You. Then, a shaking detecting means 10 for detecting shaking of the operator and a shaking detecting means 1
A conversion means 11 for converting the vibration of the operator detected at 0 into a command signal, and valve drive control means 8L, 8R for driving the turning control valve 4 based on the command signal and the command signal converted by the conversion means. The above-mentioned object is achieved by providing 11. (9) According to a ninth aspect of the present invention, in the turning control device according to the eighth aspect, the valve drive control means 8L, 8R, 11 comprises a command converted from a command signal output from the operating means 5, 6L, 6R. The turning control valve 4 is driven by a command signal obtained by subtracting the signal.

In the meantime, in the section of the means for solving the above-mentioned problem which explains the constitution of the present invention, the drawings of the embodiments of the present invention are used in order to make the present invention easy to understand. However, the present invention is not limited to this.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a hydraulic circuit diagram showing a configuration of a turning control device for a construction machine according to an embodiment of the present invention, which can be applied to a crawler crane as shown in FIG. As shown in FIG. 9, the crawler crane includes a traveling body 61, a revolving revolving body 62 mounted on the revolving body 61, and a boom 63 provided on the revolving body 62. The suspended load 66 is lifted by the hook 65 connected to the wire rope.

As shown in FIG. 1, the hydraulic circuit of the turning control device for a construction machine according to the present embodiment is driven by a prime mover 1, a hydraulic pump 2 driven by the prime mover 1, and discharged from the hydraulic pump 2. The turning hydraulic motor 3 driven by the pressurized oil, the turning control valve 4 for controlling the flow of the pressurized oil supplied from the hydraulic pump 2 to the turning hydraulic motor 3, and the operation of the operation lever 5 by the operator. Hydraulic pilot valves 6L and 6R (hereinafter, reference numeral 6) for outputting a turning command pressure
And a pilot hydraulic source 7 for supplying pressure oil to the pilot valve 6, and a hydraulic pilot valve 6.
Proportional pressure control valves 8L and 8R (hereinafter, sometimes referred to as reference numeral 8) interposed between the hydraulic control valve 4 and a pressure sensor 9L for detecting a command pressure from a hydraulic pilot valve 6. , 9R (hereinafter, sometimes referred to as reference numeral 9), a swing detection device 10 disposed in the operator's cab for detecting the swing of an operator, and pressure sensors 9L, 9
It has a controller 11 which receives signals from R and the shake detection device 10 to generate and output drive signals for the proportional electromagnetic pressure control valves 8L and 8R.

The check valves 12L and 12R keep the proportional electromagnetic pressure control valves 8L and 12L even when the operation of the operation lever 5 is stopped.
While 8R is being driven, it is a check valve for ensuring the primary pressure. That is, as will be described later, the proportional electromagnetic pressure control valve 8 is operated with a delay with respect to the pilot valve 6, and it is expected that the pilot valve 6 is in the neutral position when driven. In this case, the primary side of the proportional electromagnetic pressure control valve 8 communicates via the pilot valve 6 and the primary pressure of the proportional electromagnetic pressure control valve 8 cannot be secured. Therefore, check valves 12L and 12R are provided to prevent this.

The solenoids 8s of the proportional electromagnetic pressure control valves 8L and 8R are connected to the controller 11. The proportional electromagnetic pressure control valve 8 is switched to the position shown in the drawing when no voltage is applied to the solenoid 8s,
The pilot port of the directional control valve 4 communicates with the tank.
When a predetermined voltage is applied, the primary pressure (the turning command pressure of the hydraulic pilot valve 6) is controlled in accordance with the applied voltage and input to the pilot port of the turning control valve 4.

FIG. 2 is a diagram showing a specific example of the operator shake detecting device 10. As shown in FIG. As shown in FIG. 3, the operator swing detecting device 10 includes a pair of pressure sensors 101a, which are embedded at predetermined intervals in the front-rear direction of the crane in a seat 23 of a seat 22 mounted on a floor surface 21 of a cab. 101
b, a deviation device 102 for calculating a difference between the detected pressures of the pair of pressure sensors 101a and 101b, a high-pass filter 103 for removing a frequency component of less than 2 Hz from a difference signal from the deviation device 102, and a signal from the deviation device 102. 4 of the difference signals
Low-pass filter 1 for removing frequency components exceeding Hz
04.

The sway detector 10 removes a steady-state slow vibration component of the load difference between the front and rear of the seat 23 by removing a component of less than 2 Hz, and removes a noise component by removing a component exceeding 4 Hz. Remove. Therefore, the shake detecting device 10 is capable of detecting the shake of the operator.
A swing signal Ypre of up to 4 Hz is output. That is, in this embodiment, the natural frequency of the shaking of the operator is 2 Hz.
４4 Hz is assumed. Note that a band-pass filter that removes components below 2 Hz and removes components above 4 Hz may be used.

FIG. 4 is a flowchart showing a program of a turning control process executed by the controller 11. In step S1, a counter is started, and in step S2, a variable Ymax representing the maximum swing is set to zero. In step S3, the output value Ypr of the shake detecting device 10
Read e. When the shake detection device 10 is realized in the form of software, the shake Y calculated in software is used.
Read pre. In step S4, step S3
If it is determined that the swing Ypre immediately before the reading is larger than the maximum swing Ymax, the process proceeds to step S5, and the maximum swing Y
Substitute the immediately preceding swing Ypre for max. If it is determined that the immediately preceding swing Ypre is equal to or less than the maximum swing Ymax, the process proceeds to step S6, and the maximum swing Ymax is held as it is.

If it is determined in step S7 that the maximum swing Ymax is larger than a predetermined threshold value Yrer, the process proceeds to step S8. In this step S8, processing is performed such that the turning control valve 4 is driven and operated with a delay in the operation of the operating lever 5 by the operator. That is,
When the pressure sensors 9L and 9R detect the turning command pressure output from the hydraulic pilot valve 6 in response to the operation of the operation lever 5, and the detection signal is input to the controller 11, a predetermined delay process is performed on the detection signal. To generate a valve drive signal. Then, in step S10, it is determined whether the counter has counted up. If the count has not been counted up, that is, if the predetermined time has not elapsed, the process returns to step S3, and steps S3 to S10 are repeated. Therefore, once step S7 is affirmed, it is not denied thereafter, and a predetermined delay process is performed on the input of the operation lever until the counter counts up, and a valve drive signal is output.

When the natural frequency of the shaking of the operator is assumed to be 2 to 4 Hz, the predetermined time is set to a time longer than 0.5 to 0.25 seconds in order to detect the maximum value of the shaking. do it.

In step S7, the variable Y of the maximum swing
If it is determined that max is equal to or smaller than the predetermined threshold, the process proceeds to step S9. In step S9, the turning control valve 4 is driven and operated without delaying the operation of the operation lever 5 by the operator. That is, the pressure sensors 9L and 9R detect the turning command pressure output from the hydraulic pilot valve 6 in response to the operation of the operating lever 5, and the controller 1
When the detection signal is input to the controller 1, the controller 11 generates a valve drive signal without delay processing the detection signal and inputs the valve drive signal to the proportional electromagnetic pressure control valves 8L and 8R. As a result, the proportional electromagnetic pressure control valve 8 is driven to turn the control valve 4 for turning.
Is driven. Therefore, as long as the maximum value Ymax of the swing does not exceed the threshold value, the valve drive signal is generated without performing the delay processing for the input of the operation lever, and the responsiveness is not impaired.

By such a turning control process, the turning control device of the present embodiment operates as follows. The pilot valve 6 is operated by the operation lever 5 and the pressure sensor 9 detects the pilot pressure.
1 is input. Now, assuming that the operator does not oscillate, the controller 11 causes the proportional electromagnetic pressure control valve 8 to transmit a valve drive signal corresponding to the magnitude of the detection signal without delay processing the detection signal from the pressure sensor 9. Is output. For example, the output pressure from the pilot valve 6 is so 10 kg / cm ² is outputted in time from the proportional solenoid pressure control valve 8 if 10 kg / cm ^2. Accordingly, the proportional electromagnetic pressure control valve 8 inputs the primary pressure to the pilot port on the left side of the turning control valve 4 without reducing the primary pressure. As a result, the turning control valve 4 changes the position of the proportional electromagnetic pressure control valve 8 in accordance with the operation amount of the operation lever 5.
Drive operation is performed according to the next pressure. When the turning control valve 4 is operated, the discharge oil of the hydraulic pump 2 flows into the hydraulic motor 3 and the hydraulic motor 3 is driven according to the flow rate of the inflow to perform the turning operation.

On the other hand, the pilot valve 6 is operated by the operation lever 5.
Is operated, the pressure sensor 9 detects the pilot pressure,
Assuming that when the detection signal is input to the controller 11, the shaking of the operator is equal to or more than the reference value (not less than the threshold value), the controller 11 performs a delay process on the detection signal as follows. Apply.

For example, it is assumed that when the output pressure from the hydraulic pilot valve 6 is 10 kg / cm ² , shaking occurs.
The detection signal of the pressure sensor 9 is 10 kg / cm ² , and the controller 11 calculates a target turning command pressure by adding a delay element to the 10 kg / cm ^2, and the secondary pressure of the proportional electromagnetic pressure control valve 11 determines the target pressure. The proportional electromagnetic pressure control valve 11 is drive-controlled so that the turning command pressure is obtained. As a result, the proportional electromagnetic pressure control valve 8 delays the primary pressure and inputs the pressure to the pilot port on the left side of the turning control valve 4.

In order to suppress hunting, it is preferable to invalidate the operation command pressure in the band of 2 to 4 Hz, which is the natural frequency of the shaking of the operator, and to validate the command pressure in other bands. Therefore, the delay processing is
A filtering process for removing a detection signal having a frequency of 4 Hz is performed, and the filtered signal is used as a target turning command pressure. Assuming that the operation frequency of the operator is substantially 4 Hz or less, a low-pass filter may be used so as to validate only the operation command pressure of 2 Hz or less. As a result, the turning control valve 4 is driven and operated according to the secondary pressure of the proportional electromagnetic pressure control valve 8, in other words, with a predetermined delay from the operation of the operation lever 5. When the turning control valve 4 is operated, the discharge oil of the hydraulic pump 2 flows into the hydraulic motor 3 to drive the hydraulic motor 3 to perform a turning operation.

In the above, the swing of the operator is detected by the pair of pressure sensors 101a and 101b embedded in the seat 23 of the driver's seat. However, the stress and strain gauge is provided on the leg 22a of the seat 22 shown in FIG. It can also be detected. In this case, the stress-strain gauge needs to be attached so that the stress fluctuation in the operation direction of the operation lever 5 can be measured. Alternatively, an acceleration sensor may be provided on the sheet 23 to measure the acceleration in the operation direction and use it as the vibration of the operator.

The threshold value Yre in step S7 of FIG.
A switch or dial for arbitrarily changing r may be provided.

Next, a turning control process according to another embodiment will be described with reference to FIGS. In the turning control process according to the above-described embodiment, 2 to 4
Hz operation command pressure signal was invalidated. However, when the operator intentionally performs a turning operation while swinging at a frequency of 2 to 4 Hz, inconvenience may occur if the operation command pressure signal of 2 to 4 Hz is invalidated. The turning control process according to the embodiment described below takes into account such a situation.

FIG. 5 is a diagram for explaining the mechanism of hunting caused by shaking of the operator. As can be seen from FIG. 5, the operation input intended by the operator and the erroneous operation input due to the shaking of the operator at the time of turning stop or startup are added, and the turning control valve is operated. As a result, the turning hydraulic motor is driven to perform turning. When the turning motion resonates with the operator's body, the body swings greatly and is transmitted to the arm, and as a result, the operation lever is operated again and hunting occurs.

Focusing on such a hunting mechanism, in the present embodiment, as shown in FIG. 6, a transfer function between the body swing and the associated arm is set in advance, and the operator's body is set. The amount of erroneous operation is estimated from the shaking of. Then, the hunting is prevented by removing the input operation amount component due to the erroneous operation from the sum of the intended input operation amount and the input operation amount due to the erroneous operation. The arm model is complicated,
Assuming that the frequency handled here is about 2 to 4 Hz and that the transfer function of the arm is relatively higher than the natural frequency of the body, G (S) = K holds and is expressed as a mere gain. Can be.

FIG. 7 shows a flowchart of such a turning control process. In step S11, the immediately preceding sway Ypre is detected from the sway detection device 10, and in step S12, the sway Ypre is multiplied by the above-described gain K,
The erroneous operation amount (Ypre · K) is calculated. And step S
13 and from the operation amount ST of the operation lever 5 (Ypre ·
K) is subtracted. This subtraction result (ST− (Ypre ·
K)), in step S14, a valve drive signal to the proportional electromagnetic pressure control valve 8 is calculated and output.

In the turning control process shown in FIG. 7, as in the above-described embodiment, when there is no shaking of the operator, the turning control valve 4 is faithfully operated by the operation lever 5.
Is operated and erroneous operation input due to hunting is removed, hunting can be suppressed efficiently, and operability and safety can be improved.

In each of the above embodiments, the turning command pressure is the pilot pressure from the hydraulic pilot valve. However, the turning command pressure may be generated by an electric signal. FIG. 8 is an overall configuration diagram when the operation lever is a so-called electric lever type. The same parts as those in FIG. 1 are denoted by the same reference numerals and differences will be described. The operation amount of the operation lever 5 is electrically detected by the rotary potentiometer 60 and input to the controller 11. Here, an electric operation lever device 65 is constituted by the operation lever 5 and the potentiometer. Therefore, the hydraulic pilot valves 6L, 6R
And the check valves 12L and 12R are omitted. The controller 11 receives the operation command signal from the electric lever device 65 and the signal from the swing detection device 10 and executes the turning control process of FIG. 4 or 7 to reduce the shock at the time of starting and stopping and to suppress the hunting. Can be achieved.

In the correspondence between the above embodiment and the claims, the operating lever 5, the hydraulic pilot valves 6L and 6R operate the operating means, and the proportional electromagnetic pressure control valve 8 and the controller 11
Constitute valve drive control means.

[0033]

(1) As described above in detail, according to the present invention, the swing of the operator is detected, and the drive of the swing control valve is controlled based on the swing and the swing command signal. Therefore, hunting at the time of a sudden turning operation or a sudden stop operation can be suppressed. (2) If the swing is larger than the threshold value, the above control is performed, and if the threshold value can be set arbitrarily, optimal turning control can be performed according to the operator's preference and operating conditions. Can be. (3) The detected swing of the operator is converted into a turning command signal, and the turning control valve is drive-controlled based on the intentional turning command signal from the operating means and the converted turning command signal. In addition, an erroneous operation component due to the shaking of the operator is removed, and hunting at the time of a sharp turning operation or a sudden stop operation can be suppressed.

[Brief description of the drawings]

FIG. 1 is a hydraulic circuit diagram showing a configuration of a turning control device according to an embodiment of the present invention.

FIG. 2 is a block diagram illustrating an example of a shake detection device.

3A and 3B show a state in which a pair of pressure sensors are disposed on a seat, wherein FIG. 3A is a plan view and FIG. 3B is a side view.

FIG. 4 is a flowchart of a turning control process according to the first embodiment;

FIG. 5 is a block diagram showing a case where an erroneous operation due to a body shake is added to intentional input;

FIG. 6 is a block diagram illustrating the principle of the second embodiment.

FIG. 7 is a flowchart illustrating a turning control process according to the second embodiment;

FIG. 8 is a hydraulic circuit diagram showing a configuration of a turning control device according to still another embodiment of the present invention.

FIG. 9 is an overall configuration diagram of a crawler crane.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 motor 2 hydraulic pump 3 turning hydraulic motor 4 turning control valve 5 operating lever 6L, 6R operating oil pressure reduction 7 pilot hydraulic source 8L, 8R proportional electromagnetic pressure control valve 11 controller

Claims (9)

[Claims] 1. A hydraulic pump, a turning hydraulic motor for driving a revolving unit by pressure oil discharged from the hydraulic pump, and a drive of the turning hydraulic motor by controlling a flow of discharge oil from the hydraulic pump. A swing control device for a construction machine, comprising: a swing control valve to be controlled; and an operating means operated by an operator during a swing operation to output a command signal for driving the swing control valve. And a valve drive control unit that drives and controls the swing control valve based on the shake of the operator detected by the shake detection unit and the command signal. Turning control device. 2. The turning control device according to claim 1, wherein the valve drive control means is configured to control when the magnitude of the vibration of the operator detected by the vibration detecting means is larger than a predetermined threshold value. A turning control device for a construction machine, wherein the turning control valve is driven based on the detected shaking and the command signal. 3. The turning control device for a construction machine according to claim 2, further comprising setting means for arbitrarily setting the threshold value. 4. The turning control device according to claim 1, wherein the operating means includes a hydraulic pilot valve that outputs a pilot oil pressure according to an operation amount, and the turning control valve is connected to a pilot port. A control valve whose operation amount is controlled by a supplied pilot oil pressure, wherein the valve drive control means controls a pilot oil pressure supplied from the hydraulic pilot valve based on a drive signal to control the turning control valve. A turning mechanism for a construction machine, comprising: a proportional electromagnetic pressure control valve for generating a supply pressure to a pilot port; and a control circuit for generating the drive signal in accordance with the pilot oil pressure and the detected sway. Control device. 5. The turning control device according to claim 1, wherein the operation means is an electric operation lever device that outputs an electric signal according to an operation amount, and the turning control valve is A control valve whose operation amount is controlled by a hydraulic pilot supplied to a pilot port, wherein the valve drive control means controls a supply pressure to the pilot port of the turning control valve based on a drive signal. A turning control device for a construction machine, comprising: a pressure control valve; and a control circuit that generates the drive signal in accordance with the electric signal and the detected shaking. 6. A hydraulic pump, a turning hydraulic motor for driving a revolving unit with pressure oil discharged from the hydraulic pump, and controlling the flow of discharge oil from the hydraulic pump to drive the turning hydraulic motor. A swing control device for a construction machine, comprising: a hydraulic pilot-type swing control valve for controlling; and a hydraulic pilot valve for outputting a swing command pressure for driving the hydraulic pilot-type swing control valve according to an operation amount by an operator. A swing detecting means for detecting a swing of an operator; and a swing detecting means provided between the hydraulic pilot valve and a pilot port of the hydraulic pilot type swing control valve, and controlling the swing command pressure to control the hydraulic pilot type swing. A proportional electromagnetic pressure control valve that outputs to a pilot port of the control valve; and a swing command pressure that is output from the hydraulic pilot valve is detected. When the turning command pressure is detected by the force detecting means and the pressure detecting means, (a) when the magnitude of the shaking of the operator detected by the shaking detecting means is larger than a predetermined threshold value Controlling the proportional electromagnetic pressure control valve based on the detected turning command pressure and the detected sway, and (b) detecting when the detected magnitude of the sway is less than a preset threshold value. And a valve drive control means for controlling the proportional electromagnetic pressure control valve based on the turning command pressure. 7. The turning control device for a construction machine according to claim 6, further comprising a setting unit for arbitrarily setting the threshold value. 8. A hydraulic pump, a turning hydraulic motor for driving a revolving unit by pressure oil discharged from the hydraulic pump, and a drive of the turning hydraulic motor by controlling a flow of discharge oil from the hydraulic pump. A swing control device for a construction machine, comprising: a swing control valve to be controlled; and an operating unit that is operated by an operator to output a command signal during the swing operation. A swing detecting unit that detects a swing of the operator; and the swing detecting unit. Conversion means for converting the swing of the operator detected in the above to the command signal, and valve drive control means for driving the turning control valve based on the command signal and the command signal converted by the conversion means, A turning control device for a construction machine, comprising: 9. The turning control valve according to claim 8, wherein the valve drive control means uses a command signal obtained by subtracting the converted command signal from a command signal output from the operating means. A turning control device for a construction machine.