| 摘要 |
A twin-boom works separately in a different area when the load is light, but works as a unit such that one operates as a guide boom and the other as a following boom when the load is heavy. The servo- control system consists of goniometers for α,β,γ, each of which is the real angle of a projected figure of each boom formed on the horizontal plane and the vertical angles of each boom. The first calculator is for γ, which is a function of β, and the first comparator receives the measured and calculated angles of γ and transmits the output to the γ controller, second calculator for α, which is a function of p, the length of the balance rod, and β, and second comparator for the α controller.
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