| 摘要 |
<p>PURPOSE:To improve responsive characteristic of a fluid joint and prevent an excessive current of an electric motor by calculating the desired position of a scooper pipe from desired number of rotations of an output shaft, load characteristic and fluid joint characteristic and then performing movement of the scooper pipe. CONSTITUTION:An operator 101 of a desired scooper pipe position performs operation of a desired scooper pipe position SPR from a desired number of rotations WR of an output shaft. An operator 102 of load torque performs operation of load torque TLX from a present value WX of the number of rotations. Load torque TLX is added together with acceleration torque operated by means of a differentiator 103 and a coefficient setter 104, and output torque TX is obtained. The present position SPX of the scooper pipe is obtained from the number of rotations WX of the output shaft and output torque TX. Operation is performed for the operational direction of the scooper pipe 8 with the present position SPX of the scooper pipe and the desired scooper pipe position SPR. The output torque TX is compared with torque limit Tlimit by a comparator 107 and operation of the scooper pipe 8 is stopped when said limit is exceeded.</p> |
