To provide a control device for a hydraulic machine for improving a tracking performance and stability of control.
The control device 1 of the hydraulic device comprises a means 6 for preparing a desired value to be controlled of a controlled part of the hydraulic machine, a means 8 for detecting a deviation amount between the desired value and a present value and providing a control command of valve aperture to a hydraulic servo valve in response to the deviation amount, a means 10 for determining a hydraulic servo valve aperture based on the control command from the valve aperture control means, a means 12 for setting a first flow rate gain of oil flow rate based on the valve aperture determined by the valve aperture determining means and the present pressure value. The control device 1 further comprises a means 14 for determining an oil pressure based on the oil flow rate set by the first flow rate gain setting means, a means 16 for determining a working speed of the controlled part based on the oil pressure determined by the first element means, and a means 24 for setting a first control gain for controlling the flow rate of the oil made to flow into the controlled part.
MURATA TADASHI
YASUDA CHIAKI
