JPH04353130A - Vibration suppression control device for working equipment in hydraulic working machines - Google Patents

Abstract

PURPOSE:To suppress the occurrence of vibration during the stop of a working device by a method wherein auxiliary control of a flow rate is made on a hydraulic actuator during rapid stop operation of the working device. CONSTITUTION:A pilot pressure PP as an operation signal for a flow rate control valve 4 is detected by pressure converters 8 and 9, and the load pressure of a boom cylinder 2 is detected by a pressure converter 10. Based on detecting signals therefrom, a control unit 7 selects a flow rate pattern, responding to a load pressure right before indication of a stop, from a flow rate pattern group being a preset transient response when the pilot pressure PP indicates a stop. From the selected flow rate pattern, a flow rate indication value of pressure oil fed to and discharged from the boom cylinder 2 is decided, and a corresponding control signal is transiently outputted to a second flow rate control valve 11. The flow rate control valve 11 is driven by means of the control signal, auxiliary control of a flow rate of pressure oil is made on the boom cylinder 2 during the stop of a boom 2A, and vibration of the boom cylinder 2 is suppressed.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration suppression control device for suppressing vibrations when a working device such as a boom is stopped in a hydraulic working machine such as a hydraulic excavator or a crane.

0002

2. Description of the Related Art In a conventional hydraulic working machine, such as a hydraulic excavator, as shown in FIG. The operation of the hydraulic pump 1 controls the flow rate of pressure oil supplied from the hydraulic pump 1 to the bottom side or the rod side of the boom cylinder 2, thereby controlling the operating speed of the boom.

0003

[Problem to be Solved by the Invention] In such a hydraulic working machine, when the operating lever 3 is returned to neutral to suddenly stop the boom, the pilot pressure signal instructs the stop and the flow control valve 4 returns to neutral. Even after this occurs, the boom does not suddenly stop due to inertia, and the pressure oil acts as a spring in the hydraulic circuit after the flow control valve 4, causing vibrations. This vibration is transmitted to the vehicle body and causes the vehicle body to shake due to the effects of rattling of the vehicle body, resulting in coupled vibration of the entire vehicle body and front. Furthermore, since this vibration has a large inertia, it is difficult to attenuate, and the vibration does not subside forever. As a result, even when a delicate operation is required, such as positioning the tip of a bucket, the tip continues to vibrate and positioning cannot be performed.

[0004] An object of the present invention is to control the flow rate of auxiliary pressure oil to a hydraulic actuator according to the operating speed of the working device during a sudden stop operation, thereby suppressing vibrations during hydraulic work when stopping the working device. An object of the present invention is to provide a vibration suppression control device for a working device in a machine.

[0005]

[Means for Solving the Problem] In order to achieve this object, a vibration suppression control device for a working device in a hydraulic working machine according to the present invention includes a first detection means for detecting an operation signal;
Based on the second detection means for detecting the load pressure of the hydraulic actuator and the detected values by the first and second detection means,
The flow rate command value of pressure oil supplied to and discharged from the hydraulic actuator is determined from the load pressure of the hydraulic actuator in a steady state before the operation signal instructs to stop, and the corresponding control signal is generated when the operation signal instructs to stop. The first output that outputs transiently
and a second means for controlling the flow rate of auxiliary pressure oil to the hydraulic actuator based on a control signal output from the first means.

Preferably, the first means determines the flow rate command value so as to apply damping to the hydraulic actuator during the process in which the hydraulic actuator further moves due to the inertia of the working device after the operation signal instructs to stop.

Preferably, the first means determines whether or not the operation signal is in a steady state based on whether the differential value of the operation signal is less than or equal to a preset value.

[0008] The first means also determines whether the operation signal instructs to stop by determining whether or not the value of the operation signal is less than or equal to a preset value.

Furthermore, preferably, the first means has a flow rate pattern group of pressure oil transient response set in advance corresponding to the load pressure of the hydraulic actuator;
A corresponding one of the flow rate pattern group is selected according to the load pressure detected by the detection means, and a flow rate command value is determined from the selected flow rate pattern.

Preferably, the first means includes two sets, each of which has a flow rate pattern set in advance corresponding to the load pressure of the hydraulic actuator, and each set of which is set in advance to correspond to the operating direction of the actuator. The first means determines the operating direction of the actuator from the operation signal detected by the first detection means, and determines two sets of flow rate pattern groups according to the result. A corresponding one of the selected flow rate patterns is selected, and a corresponding one of the flow rate pattern groups selected according to the load pressure of the hydraulic actuator is selected, and a flow rate command value is determined from the selected flow rate pattern.

[0011]

[Operation] The first means determines the flow rate command value of pressure oil to the hydraulic actuator from the load pressure of the hydraulic actuator when it is in a steady state before the operation signal instructs to stop, and the operation signal instructs to stop. By transiently outputting a corresponding control signal when the operation signal is stopped, and controlling the flow rate of auxiliary pressure oil to the hydraulic actuator using the control signal by the second means, the working device is stopped after the operation signal instructs it to stop. In the process of further movement of the hydraulic actuator due to inertia, damping is performed according to the actuator load pressure when the operation signal is in a steady state, and vibrations when the working device suddenly stops are suppressed.

0012

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 to 8, taking as an example a case where a hydraulic excavator is used as a hydraulic working machine. In FIG. 1, the hydraulic drive circuit according to the present embodiment includes a hydraulic pump 1 and a hydraulic actuator, that is, a boom cylinder, which is driven by pressure oil discharged from the hydraulic pump 1 and drives a working device, for example, a boom 2A of a hydraulic excavator. 2, and a first flow control valve connected between the hydraulic pump 1 and the hydraulic actuator 2 and controlled by a pilot pressure signal generated by operating the operating lever 3 to control the flow rate of pressure oil supplied to the hydraulic actuator 2. 4, and a relief valve 5 that opens when the pressure between the hydraulic pump 1 and the first flow control valve 4 exceeds a set value.

The vibration suppression control device of this embodiment is installed in the above-mentioned hydraulic drive circuit, and controls the pilot pressure Pp8,
Pressure transducers 8, 9 that detect Pp9 (hereinafter both are collectively referred to as Pp), pressure transducer 10 that detects the load pressure of boom cylinder 2, and these pressure transducers 8, 9, 1.
A control unit 7 that inputs a detection signal from 0, a hydraulic pump 1 and a boom cylinder 2 similar to the first flow control valve 4
A second flow rate control valve 11 is connected between the hydraulic actuator 2 and driven by a control signal output from the control unit 7 to supply and discharge pressure oil to and from the hydraulic actuator 2 auxiliary.

The control unit 7 is composed of a microcomputer, and converts the pilot pressure signal output from the pressure transducers 8 and 9 and the load pressure signal output from the pressure transducer 10 into digital signals, as shown in FIG. an A/D converter 7a for converting into
OM) 7c, random access memory (RAM) 7d for temporarily storing numerical values in the middle of calculation, and D/A for output.
It includes a converter 7e and amplifiers 7f and 7g connected to the flow control valve 11 described above.

The control unit 7 controls the pressure of the boom cylinder 2 detected by the pressure transducer 10 in a steady state in which the operation signal of the pilot pressure Pp output from the pressure transducers 8 and 9 does not instruct the stop of the boom cylinder 2. Load pressure in RAM7
d, and the operation signal, that is, the pilot pressure Pp
commands to stop, one of the preset flow patterns of the transient response of pressure oil to the boom cylinder 2 corresponding to the above-mentioned stored load pressure is selected and the flow rate pattern of the pressure oil to the boom cylinder 2 is stopped. determines a flow rate command value, and transiently outputs a corresponding control signal to the second flow rate control valve 11. The second flow rate control valve 11 is driven by a control signal from the control unit 7 to control the flow rate of auxiliary pressure oil to the boom cylinder 2 when the boom 2A is stopped, thereby suppressing vibrations of the boom cylinder 2.

The operation of this embodiment will be described in detail below in accordance with the flowcharts of the control procedure program stored in the ROM 7c shown in FIGS. 3 and 4. First, step 1
00, the outputs of the pressure transducers 8 and 9 and the output of the pressure transducer 10 are input via the A/D converter, and the pilot pressure Pp and the load pressure PL of the boom cylinder 2 are input.
is stored in RAM7d. Next, in step 110, the current operation signal Ppn and the operation signal Pp one sample time ago are
By dividing the difference from n-1 by the sample time Δt,
A differential value Pp' of the operation signal is calculated.

Next, in step 120, the operation signal Pp
The steady state condition in which the differential value Pp' instructs constant speed operation of the boom cylinder 2, that is, "absolute value of Pp'≦Pp
o' Absolute value of o'
The load pressure PL0 in constant speed operation is set to PL, and if it is not satisfied, the process proceeds to step 140. Next, step 1
At step 40, it is determined whether or not the operation signal Pp satisfies the condition for the stopped state, that is, "absolute value of Pp≦absolute value of Ppo". Here, Ppo is assumed to be a small value approximately equal to 0. In step 140, “Absolute value of Pp≦Ppo
If the absolute value of ' is satisfied, proceed to step 150;
If not, the process proceeds to step 170. Step 17
When the process advances to 0, a flag indicating the control state is set to 1, and the process returns to the beginning. In step 150, it is determined whether a flag indicating the control state is 1 or not. If flag is 1, step 16
Proceed to 0, and when flag is 0, return to the beginning. Step 1
In step 60, as shown in FIG. 4, first in step 161, the load on the boom cylinder 2 in the steady state set in step 130 is determined from a flow rate pattern group of transient response of pressure oil to the boom cylinder 2 set in advance. Pressure PL
Select the corresponding one based on 0.

FIG. 5 shows an example of pattern selection. Each flow rate pattern group has a flow rate Δq of pressure oil to the boom cylinder 2 as a function of control time t and pattern number i, Δq=
f i (t), and one of them is selected by pattern number i. The pattern number i is set as a function i=g(PL0) in which the value of the pattern number increases by one as the cylinder load pressure PL0 increases by a certain value, and step 130
The corresponding pattern number is determined from the load pressure PL0 in the constant speed operation of the boom cylinder 2 set in .

Details of the function Δq=fi (t) are shown in FIG. The control time T is the sample time Δt and the number of control cycles k
It is expressed by the product t=k×Δt, and the function Δq=fi
In (t), as the number of cycles k increases (control time T increases), the flow rate q rapidly increases from zero to the maximum, and then decreases to zero again, and as the pattern number i increases, the total flow rate increases. The relationship is set as follows.

Here, changing the pattern of Δq depending on the load pressure PL0 means that the weight of the load loaded on the working device of the hydraulic excavator is detected from the load pressure PL0, its inertia is estimated, and the inertia is calculated. The goal is to select the optimal damping Δq pattern. Therefore, the function Δq=f
Using the flow rate Δq determined by i (t), the boom cylinder 2 can be damped with a strength corresponding to the inertia of the load when the boom 2A suddenly stops, as will be described later.

Returning to FIG. 4, in step 162, the number of cycles k is set to k=0. Next, in step 163, the control time T=k×Δt is calculated based on the selected flow rate pattern.
A flow rate Δq corresponding to the flow rate Δq is determined, and a corresponding control signal is outputted to the second flow rate control valve 11 using this as a flow rate command value. Next, in step 164, it is determined whether the output of the control signal has been completed, that is, whether k>kmax is satisfied, and if it is, the process returns to the beginning, and if it is not, the process proceeds to step 165. . In step 165, k=k+1 is set in order to proceed to the next step, and then the process returns to step 163. The above steps 163 to 165 are k=kma
x. During this time, a control signal corresponding to the flow rate Δq is outputted to the flow rate control valve 11 in step 163, and when k≧kmax, the judgment in step 164 is satisfied, and the process proceeds to step 166, where the flag is set to 0. and return to the beginning. After this, the pilot pressure Pp indicates a stopped state, so in step 120, "absolute value of Pp' ≤ Pp
o' is satisfied, and the load pressure PL0 of the boom cylinder 2 is set to PL in step 130, but at this time the boom 2A is stopped, and in step 150 flag≠
Since it is determined that the value is 1, the process of returning to the beginning is repeated. As described above, a control signal is output to the flow control valve 11 during the control time kmax × Δt, and when the boom 2A suddenly stops, auxiliary pressure oil flow control is performed for the boom cylinder 2, and the vibration of the boom cylinder 2 is suppressed. suppressed.

The above vibration suppressing effect will be explained in detail with reference to time charts shown in FIGS. 7 and 8. In the following description, the lowering direction will be considered as the operating direction of the boom 2A. When the boom 2A is operating in the downward direction, the flow control valve 4 is switched to the left position in FIG. 1 by the pilot pressure Pp8, and the operating speed of the boom cylinder 2 is controlled by meter-out control of the flow control valve 4. .

FIG. 7 shows the pilot pressure Pp (=Pp8), which is an operation signal when suddenly stopping a boom related to a conventional hydraulic drive circuit not equipped with a vibration suppression control device, the speed Vs of the boom cylinder 2, and the boom cylinder 2. The relationship between load pressure PL is shown below. First, when the boom 2A is lowered at a constant speed and the operation lever 3 is returned to neutral in order to suddenly stop the boom 2A at time t1, as shown in FIG. 7(a), The pilot pressure Pp (Pp8), which was in a steady state, starts to decrease from time t1, and is reduced to almost the tank pressure at time t2, and correspondingly, the flow rate control valve 4 also starts decreasing its opening from time t1. , returns to neutral at time t2. Meanwhile, the speed of the boom cylinder 2, which had been operating in the downward direction at a constant speed, also decreases, but the boom 2A does not suddenly stop due to inertia, so as shown in FIG. 7(b), the speed of the boom cylinder 2 decreases.
Even at this time, the speed does not become zero, but becomes zero at time t3, which exceeds time t2, and correspondingly, the displacement S of the boom cylinder 2 becomes minimum at time t3, as shown in FIG. 7(c). After that, the pressure oil acts as a spring in the hydraulic circuit after the flow control valve 4, pushing the boom cylinder 2 back upwards, and the displacement S also increases.This process is repeated, causing vibrations. is applied to the car body, causing the car body to shake due to the effects of car body play, etc., and as a result, the car body -
This will cause coupled vibration of the entire front.

In contrast, in this embodiment, vibrations are suppressed as follows. Note that when the boom 2A is lowered, a load pressure corresponding to the mass of the cargo is generated on the bottom side of the boom cylinder 2, and this load pressure is detected by the pressure transducer 10. Further, in this case, the output Δq of the control signal output in step 163 shown in FIG. 4 is an output that supplies pressure oil to the rod side of the boom cylinder 2 and releases pressure oil from the bottom side.

First, when the pilot pressure Pp (Pp8) starts to decrease at time t1 in FIG. 8(a),
As shown in (b), the differential value Pp' of the pilot pressure Pp
Since "absolute value of Pp'> absolute value of Ppo'", the above-mentioned step 120 is no longer satisfied, and the load pressure in step 130 in a steady state where the pilot pressure Pp one cycle before commands constant speed operation is The memory of PL0 (=PL) is maintained, and around time t2, Pp ≦Ppo
Then, the above-mentioned step 140 is satisfied, and the vibration suppression control of step 160 is started. In this vibration suppression control, the pattern number i is determined in step 161 described above from the cylinder load pressure PL0 maintained in the steady state, the corresponding flow rate pattern is selected, and the pattern number i is determined in steps 162 to 165.
A flow rate command value Δq is determined based on this pattern, and a corresponding control signal is output to the flow rate control valve 11.

The flow rate control valve 11 receives this signal and is driven to a predetermined opening degree, and as shown in FIG. 8(c), a flow rate corresponding to the flow rate command value Δq is transmitted from the hydraulic pump 1 to the rod side of the boom cylinder 2. The pressure oil on the bottom side is discharged to the tank 12. As a result, as shown in FIG. 8(d), time t
2 and thereafter, damping is applied to the boom cylinder 2 which continues to descend, suppressing the occurrence of vibrations due to the compressibility of the pressure oil, and the boom cylinder 2 stops at time t4 as shown in FIG. 8(e).

Therefore, according to this embodiment, the load pressure of the boom cylinder 2 in a steady state in which the pilot pressure Pp is maintained at a constant value and instructs constant speed operation is determined, and the load pressure is set in advance based on this load pressure. Select one of the flow rate patterns of the transient response of pressure oil to the boom cylinder 2, determine the flow rate command value Δq from the selected flow rate pattern, and send the corresponding control signal when the pilot pressure Pp instructs to stop. Damping is given to the boom cylinder 2 by temporarily controlling the flow rate of pressure oil supplied to and discharged from the boom cylinder 2, thereby effectively absorbing kinetic energy of the boom cylinder 2 with a small delay time. It is possible to suppress vibrations of the working equipment due to sudden changes in flow rate. Therefore, when a delicate operation is required, such as positioning the tip with respect to a bucket, the positioning can be performed reliably, and the operability is significantly improved. Furthermore, since there is no feedback loop within the control loop, stable vibration suppression control can be performed with little risk of runaway.

Another embodiment of the present invention will be explained with reference to FIGS. 9 to 12. In this embodiment, it is determined whether the boom is raised or lowered, and different flow rate command values are given for a sudden stop when the boom is raised and a sudden stop when the boom is lowered. Figure 9
corresponds to FIG. 3 related to the previous example, and step 10
1 to 105 have been added. Other procedures are the same as in FIG. 3.

In FIG. 9, in step 101, step 10
0, the operating lever pilot pressures Pp8 and Pp9 read from the A/D converter are compared, and if Pp8>Pp9, it is determined that the boom is being lowered, and the process moves to step 102. In step 102, the lower pilot pressure Pp8 is substituted for the pilot pressure Pp used in step 110 later. Next, in step 103, dflag indicating the operating direction is set to 1 to indicate that the lowering operation is in progress, and the process moves to step 110. On the other hand, if Pp8≦Pp9 in step 101, it is determined that the raising operation is in progress, and the process moves to step 104. In step 104, the pilot pressure Pp used in the subsequent step 110 is
Substitute the raising side pilot pressure Pp9 into . Next, in step 105, dflag indicating the operating direction is set to 0, and it is set that the raising operation is in progress, and the process moves to step 110. In step 110, Pp in step 102 or 104
According to the pilot pressure Pp8 or Pp9 substituted into
A pilot pressure differential value Pp' for lowering or raising operation is calculated. As a result, in the subsequent step 140, it becomes possible to determine whether to start control for either the lowering or raising operation.

Next, details of the vibration suppression control in step 160A are shown in FIG. Figure 10 shows steps 167 and 168 in Figure 4 above.
Equivalent to adding . Other procedures are the same as those in FIG. 4. In FIG. 10, in step 167, the dflag set in the previous step 103 or 105 is determined,
If dflag=1, that is, a lowering operation, step 1
Move on to 63. In step 163, a control signal is output when the lowering is stopped. The function Δq=fi (k*Δt
) is shown in FIG. 11(a). In this case, the control output Δq is +
, that is, supplying pressure oil to the rod side of the boom cylinder,
This is the output that releases pressure oil from the bottom side.

If it is determined in step 167 that dflag=0, that is, it is a raising operation, the process moves to step 168. In step 168, a control signal is output when the lift is stopped. The function Δq=hi (k*Δt) at that time is shown in Figure 1.
1(b). In this case, the control output Δq becomes -, that is, an output that supplies pressure oil to the bottom side of the boom cylinder and releases pressure oil from the rod side. Figures 11(a) and (b)
), as the selection value i of the control pattern increases, Δ
This becomes a pattern in which the absolute value of q becomes large.

FIG. 12 shows the procedure 160A shown in FIG. 10 using a control block. Here, block 200 is step 16
1, block 210 performs step 167, block 220
indicates step 163, and block 230 indicates step 168. Then, in block 220 or 230, the control output Δ
Steps 162, 164, and 165 are steps in which q is updated by the number of cycles k (control time T). With the above configuration, it is possible to determine the pilot pressures Pp8 and Pp9, determine whether to raise or lower the boom, and select and control an appropriate output pattern of the control output Δq at each stop. Optimal vibration suppression control can be performed even when the vehicle is stopped.

[0033]

[Effects of the Invention] According to the present invention, vibrations when suddenly stopping a working device are suppressed, so that positioning of the working device, etc.
When delicate operations are required, reliable positioning is possible.
This has the effect of significantly improving operability.

[Brief explanation of drawings]

FIG. 1 is a schematic diagram showing a vibration suppression control device for a boom in a hydraulic working machine according to an embodiment of the present invention, together with its hydraulic drive circuit.

FIG. 2 is a diagram showing the configuration of the control unit shown in FIG. 1.

FIG. 3 is a flowchart showing a control procedure program stored in the ROM shown in FIG. 2;

FIG. 4 is a flowchart showing details of the vibration suppression control procedure of the flowchart shown in FIG. 3;

FIG. 5 is a diagram showing a flow rate pattern selection procedure using control blocks.

FIG. 6 is a diagram showing flow patterns.

FIG. 7 is a time chart showing a stop operation in a conventional hydraulic work machine, in which (a) shows the operation signal, (b) shows the speed of the boom cylinder, and (c) shows the displacement of the boom cylinder.

FIG. 8 is a time chart showing the stop operation according to the present embodiment, in which (a) is the operation signal, (b) is the differential value of the operation signal, (c) is the flow rate command value, and (d) is the speed of the boom cylinder. , (e) shows the displacement of the boom cylinder.

FIG. 9 is a flowchart showing a control procedure program stored in a ROM in a vibration suppression control device according to another embodiment of the present invention.

10 is a flowchart showing details of the vibration suppression control procedure of the flowchart shown in FIG. 9; FIG.

FIG. 11 is a diagram showing flow patterns.

FIG. 12 is a diagram showing a flow rate pattern selection procedure using control blocks.

FIG. 13 is a diagram showing a conventional hydraulic working machine together with its hydraulic drive circuit.

[Explanation of symbols]

1 Hydraulic pump 2 Boom cylinder 2A Boom (working device) 3 Operation lever (operation means) 7 Control unit (first means) 8, 9 Pressure transducer (first detection means) 10 Displacement meter (second detection means) ) 11 Flow control valve (second means)

Claims (6)

[Claims] Claim 1: a hydraulic pump; a hydraulic actuator driven by pressure oil discharged from the hydraulic pump to drive a working device; In a vibration suppression control device for a working device in a hydraulic working machine having a hydraulic drive circuit including a flow control valve that controls the flow rate of pressure oil supplied to a hydraulic actuator, a first detection means for detecting the operation signal; , a second detection means for detecting the load pressure of the hydraulic actuator, and a detection value of the hydraulic actuator in a steady state before the operation signal instructs to stop, based on the detected values by the first and second detection means. a first means for determining a flow rate command value of pressure oil to be supplied to and discharged from the hydraulic actuator based on the load pressure, and transiently outputting a corresponding control signal when the operation signal instructs to stop; A vibration suppression control device for a working device in a hydraulic working machine, comprising: second means for controlling the flow rate of auxiliary pressure oil to the hydraulic actuator based on a control signal output from the means. 2. The vibration suppression control device for a working device in a hydraulic working machine according to claim 1, wherein the first means further controls the hydraulic actuator due to inertia of the working device after the operation signal instructs to stop. In the process of moving,
A vibration suppression control device for a working device in a hydraulic working machine, characterized in that the flow rate command value is determined so as to give damping to a hydraulic actuator. 3. The vibration suppression control device for a working device in a hydraulic working machine according to claim 1, wherein the first means determines whether or not the operating signal is in a steady state by determining in advance a differential value of the operating signal. 1. A vibration suppression control device for a working device in a hydraulic working machine, which makes a determination based on whether the vibration is equal to or less than a set value. 4. The vibration suppression control device for a working device in a hydraulic working machine according to claim 1, wherein the first means determines whether or not the operation signal instructs to stop, the value of the operation signal being set in advance. 1. A vibration suppression control device for a working device in a hydraulic working machine, characterized in that the vibration suppression control device makes a determination based on whether the vibration is equal to or less than a specified value. 5. The vibration suppression control device for a working device in a hydraulic working machine according to claim 1, wherein the first means controls a pressure oil transient response flow rate set in advance corresponding to the load pressure of the hydraulic actuator. a group of patterns, the first means selects a corresponding one of the group of flow patterns according to the load pressure detected by the second detection means,
A vibration suppression control device for a working device in a hydraulic working machine, characterized in that a flow rate command value is determined from the selected flow rate pattern. 6. The vibration suppression control device for a working device in a hydraulic working machine according to claim 1, wherein the first means has each flow rate pattern set in advance in accordance with the load pressure of the hydraulic actuator, and Each set has two groups of pressure oil transient response flow patterns set in advance corresponding to the operating direction of the actuator, and the first means detects the operation detected by the first detection means. The operating direction of the actuator is determined from the signal, and the corresponding one of the two flow rate pattern groups is determined according to the result.
and further select a corresponding one of the selected flow rate pattern group according to the load pressure of the hydraulic actuator.
1. A vibration suppression control device for a working device in a hydraulic working machine, characterized in that a flow rate command value is determined from the selected flow rate pattern.