Abstract: A construction machine includes an attitude sensor that detects the current attitude of an upper turning body; a reference angular acceleration calculation unit that calculates a reference angular acceleration to be generated when an electric turning motor is driven by a torque command value generated according to the operation amount of an operation part; a reference gravity torque calculation unit that, on the basis of the current attitude and the deviation between an actual angular acceleration, calculates a reference gravity torque; a gravity compensation torque calculation unit that calculates a gravity compensation torque for compensating a torque component generated about the turning axis by the gravity in the current attitude; and a correction unit that corrects the torque command value by using the gravity compensation torque so as to cancel the torque component generated about the turning axis by the gravity in the current attitude.

Abstract: A distance measuring method simultaneously measures a distance between a distance measurement system (10A) and a measurement object (M), and a relative speed therebetween. In the method, the distance measurement system sends an electromagnetic wave toward the measurement object as a traveling wave while changing a frequency thereof. The measurement object reflects the traveling wave to produce a reflected wave. The traveling wave and the reflected wave interfere with each other to produce a standing wave. The distance measurement system detects the amplitude of the standing wave and produces an amplitude signal representing the amplitude of the standing wave. Based on the produced amplitude signal, the distance measuring system derives the distance and the relative speed between the distance measurement system and the measurement object.

Abstract: A distance measuring method simultaneously measures a distance between a distance measurement system (10A) and a measurement object (M), and a relative speed therebetween. In the method, the distance measurement system sends an electromagnetic wave toward the measurement object as a traveling wave while changing a frequency thereof. The measurement object reflects the traveling wave to produce a reflected wave. The traveling wave and the reflected wave interfere with each other to produce a standing wave. The distance measurement system detects the amplitude of the standing wave and produces an amplitude signal representing the amplitude of the standing wave. Based on the produced amplitude signal, the distance measuring system derives the distance and the relative speed between the distance measurement system and the measurement object.