| 摘要 |
PURPOSE:To switch control of a load and displacement by material characteristics, and to execute control which is free from disorder and error by obtaining a control operating signal of a load mechanism by feeding back a load detecting signal and a load point displacement detecting signal to a target value signal. CONSTITUTION:When a taget signal S is increased until a load detecting value arrives at the first load eliminating point, both a load detecting signal P and a load point displacement detecting signal V increase, its added mean value R is fed back and a load mechanism 1 follows up so as to be S=R, and in this state, it is loaded mainly by load control. It is loaded mainly by displacement control after passing through a point B in which a gradient of a load and displacement becomes one to one, and also the load is eliminated by load control in each load eliminating part. Switching to the load and load eliminating directions from a computer 11 is executed by monitoring the signal P and the signal V up to the point B and an end point of each load eliminating part, and others, respectively, and until the load detecting value reaches the load eliminating start point of each load eliminating part after passing through the point B, its control is executed by displacement control, and the control to the load eliminating end point after its arrival is executed by load control. |
