| 摘要 |
PURPOSE:To moderately control a speed at the time of starting and stopping by controlling a lift arm based on the speed in compliance with a position deviation between a target value and a current value. CONSTITUTION:A position deviation is obtained from outputs from a target position setting unit 20 and a lift position detecting unit 21 by a position deviation computing unit 23. When said position deviation is in a crawling control range of a lift arm which is set previously, a position deviation signal is inputted in a speed deviation arithmetic circuit 24, and at the time of crawling driving, a pulse which has an on-time duration in compliance with a speed deviation is formed from the speed deviation so as to output pulses to electromagnetic control valves 7, 14. With this arrangement, the lift arm is controlled based on a speed in compliance with the position deviation, and thereby a cylinder speed rises moderately at the time of starting, and the cylinder speed is decelerated moderately at the time of stopping.
|
