| 摘要 |
PURPOSE:To improve the positioning accuracy and to shorten the control time of working means of an enqineering working machine and the like by switching the gain of the control system to two stages in accordance with the deviation between the actual position detected and the set position. CONSTITUTION:A set signal S1 corresponding to the set point of the boom angle, arm angle or turning of a power shovel and the like is added to an addition point 1. A stroke detection signal S2 of a working machine cylinder 9 which is sent out by a clyinder stroke detector 10 is also added to the addition point 1, where a deviation between the signals S1 and S2. The deviation signal V1 is added to a compensator 2. When the working machine is far from an object position and therefore the deviation signal Vi is large, the gain should be rendered relatively small so as not to lower clamp voltage, thereby shortening the control time. When the deviation signal Vi is small, the gain should be rendered relatively high, thereby enhancing the accuracy in the positioning of the working means. |
