| 摘要 |
<p>PROBLEM TO BE SOLVED: To suppress the pressure fluctuation of a hydraulic cylinder and the vibration of a boom and the total system by controlling on the basis of the manipulated variable input by an operator and the feedback amount calculated on the basis of the pressure of the hydraulic cylinder. SOLUTION: In a hydraulic crane, a hydraulic circuit for controlling the operation of a hydraulic motor 32 controls a flow rate and the feeding direction of the pressure oil supplied from a hydraulic pump 42 as a hydraulic source by a hydraulic pilot type control valve 40 mounted between the hydraulic motor 32 and the hydraulic pump 42. A controller 60 performs the feedback of the cylinder rod pressure PR and the cylinder rod pressure PR in addition to the manipulated variable ud from the operator to obtain a control signal to control the hydraulic motor 32. Whereby the vibration of the hydraulic cylinder 20 is attenuated, and further the vibration of a boom 10 hoisted and driven by the hydraulic cylinder 10, the vibration of the suspended load 16 and further the vibration of the total system can be suppressed.</p> |
