| 摘要 |
PROBLEM TO BE SOLVED: To reduce shock in a fluid pressure device occurring when a device gain is switched, without reducing work efficiency.SOLUTION: When a control gain G used for a control calculation in a control calculation part 54 is switched in accordance with the switching of a device gain, a control gain set part 104 switches the control gain G not in a manner of instantaneously switching the control gain G but in a manner of gradually change it. In this way, the switching properties of the control gain can be made consistent with the switching properties of the device gain which are gradually changed and switched, and the difference in the switching time between the device gain and the control gain can be reduced. Thus, when the device gain is switched caused by the difference in the switching time, shock occurring in a fluid pressure device 41 can be reduced. Further, there is no need of waiting the switching completion of the device gain G, and the work efficiency of work utilizing the fluid pressure device 41 is not reduced. |
