TRACE CONTROLLING METHOD FOR WORKING TOOL SUCH AS HYDRAULIC SHOVEL

摘要

PURPOSE:To enable precise control of trace for working tool and to enable to perform a smooth operation to modify the position of the working tool at an automatic control time. CONSTITUTION:A control speed signal alpha'r, which corresponds to a boom angle speed in case a bucket 4 draws a given trace, is found from a boom angle signal alpha, an arm angle signal beta, and an arm angle speed signal beta' so that the bucket 4 is caused to draw the given trace through the manual operation of an arm 3 and the automatic operation of a boom 2. An open loop control is carried out through the elevating movement of the boom at an angle corresponding to the control speed signal alpha'r.