| 摘要 |
PURPOSE:To permit the performance of control of high accuracy by a method in which the position of each part of a working machine is detected, the position of the spool of the operating valve of the working machine is detected, and each operating valve is controlled on the basis of the position and time of the spool. CONSTITUTION:A position detector 28 to detect the present positions of each part of a working machine 5 is provided to each part of the working machine 5 attached to the upper slewer 4 above a mobile lower vehicle 1. Also, a position detector 27 to detect the position of spool is provided to the spools 17a-20a of the operating valves 17-20 of the working machine. The positions of each part of the working machine 5 in the learning process before automatic excavation and the positions of spools of the operating valves 17-20 are stored in memory 33 provided to a control circuit 31. Contents stored in the learning process are sent out to servo motors 22-24 to control the spools 17a-20a in such a way as to permit automatic excavation similar to the learning process. In case where the positions of each part of the working machine are not equal to positions before the beginning of learning, the deviation between both the positions is calculated by a centralized processor 32, and control signal corresponding to the deviation is sent out to the motor control circuit 25. |
