| 摘要 |
PROBLEM TO BE SOLVED: To provide a boom device for fluid transportation capable of accurately suppressing the vibration of a boom. SOLUTION: A position sensor 20 detects the stroke of an elevating and lowering cylinder 4 and supplies the detected output to a CPU 21. The CPU 21 fetches the supplied stroke (x) and computes a target distortion amountεaccording toε=ε0 -k.(x-x0 )-c.x<1> . In this case,ε0 is a distortion amount at the time of non-vibration, (k) and (c) are coefficients, x0 is a cylinder length at the time of non-excitation and x' is a cylinder moving speed. Also, the cylinder moving speed x' is obtained by dividing the change of the cylinder length x0 by the time. The CPU 21 supplies the computed target distortion amountεto a servo amplifier 23 as a driving command. To the servo amplifier 23, an actual distortion amount detected in a distortion sensor 22 is supplied as well. The servo amplifier 23 supplies output corresponding to the difference of the target distortion amount E and the actual distortion amount to an electromagnetic servo valve 19 and performs control so as to match the distortion amount with the target distortion amountε.
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