| 摘要 |
PURPOSE:To stop a bottom at a target position automatically and highly precisely, by controlling the boom's motion based on the deflection between a preset target position and detected rocking position of the boom. CONSTITUTION:A boom with a work apparatus at its tip is arranged on the body of a vehicle under the state of freely rocking around its vertical axis. Then, a target position to stop the rocking of the boom is set by a target position set-up means 89 which utilizes a sample hole circuit 131 and the rocking position of the boom is detected by a position detecting means 90. Then, a deflection between the rocking position and the target position is found out by means of this detecting means 90. And then, based on this, the direction of the boom's motion is distinguished by rocking distinction means 115 and further, a deflection signal is modulated by a pulse duration modulation means 96 and both signals are transmitted to driving means 111, 114 and solenoid 61, 62 of control valves are driven. |
