| 摘要 |
PURPOSE:To stop the movement of a blade when the blade reaches an objective position and to improve stability and respondence by periodically setting up the objective value of a blade for a bulldozer or the like and feeding back the present position of the blade. CONSTITUTION:A sampling circuit 10 samples an output of a photodetector processing part 4 which indicates vertical position deviation between a photodetector 3 and a laser light and an output of a potentiometer 9 which indicates the height from a blade 2 at prescribed timing and an adding point A adds these sampled values to set up the objective value of the blade 2. An adding point B finds the deviation between the objective value and the output of the potentiometer 9 and the deviation is amplified by error amplifiers 51, 52 to be applied to an adding point C as a command value of a servo system 6. The output of the potentiometer 9 is also differentiated by a differentiating circuit 11 to find the present moving speed of the blade 2 and the found value is applied to the adding point C. The adding point C adds the differentiated value to the output of the amplifier 52, and when the blade 2 reaches its objective position, the system 6 stops the movement of the blade 2. |
