JP3586516B2 - Operation control device and operation control method - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an operation control device and an operation control method for controlling the speed and force of a working machine by an operation lever operated by an operator.
[0002]
[Prior art]
In a conventional hydraulic excavator, as shown in FIG. 10, an operator operates an operation lever 8 provided in a driver's cab, and controls a pilot pressure of a remote control valve (hydraulic pilot valve) 9 in accordance with an operation direction and an operation angle thereof. By controlling the direction and opening of the main control valve 4 by the pilot pressure, the flow rate of the oil supplied from the hydraulic pump 5 to the hydraulic cylinder 6 is controlled. Etc. are controlled. Then, the operator performs all of the fine operation for performing a fine operation and the dynamic operation for performing a large operation through the operation lever.
[0003]
In particular, in the case of a hydraulic shovel, the operator grasps one operating lever with both hands and operates the operating lever in the forward, backward, left and right directions, thereby operating the four actuators of the boom, arm, bucket, and turning mechanism. Since the operation is controlled and the operation is performed while paying attention to the surrounding conditions, the operator is required to have skill and skill.
[0004]
Also, in the case of a crane, it is necessary to use the same machine for tasks requiring delicate operations such as installation of heavy objects and high-speed heavy duty operations such as excavation and loading of earth and sand with buckets. Yes, it is necessary to use the work properly by operating the operation lever.
[0005]
[Problems to be solved by the invention]
However, for example, in the case of a hydraulic shovel, sometimes a careless or distracted person suddenly moves the operating lever suddenly or suddenly, causing a large shock to the vehicle body. was there. As described above, since it is difficult for the operator to keep driving while keeping the tension, a function that supports the operator's driving operation by improving operability has been required. Similar needs existed for cranes.
[0006]
Therefore, conventionally, there has been an attempt to delay the response by providing a throttle in a pilot line from the remote control valve 9 to the main control valve 4 so that the flow rate of the supply oil does not suddenly change even if the operation lever is suddenly operated.
[0007]
However, if the aperture is provided, the response will be delayed even when the operation lever is operated normally, and especially in the case of fine operation for performing fine work, not only the operation amount of the operation lever is small but also the operation speed is low, In such a case, the response is also delayed. On the other hand, since the operator adjusts the operation amount of the operation lever while watching the speed or the speed change of the hydraulic cylinder or the working machine, if the response is delayed during the fine operation, the operator excessively operates the operation lever. For example, it becomes difficult for the operator to perform desired speed control, and operability at the time of fine operation may be deteriorated.
[0008]
Conventionally, as shown in FIG. 11, a voltage signal output from an electric lever 10 is signal-processed by a control unit 20 and a main control valve 4 is controlled via an electro-hydraulic conversion actuator 3. However, in order to solve the above problem, the first order lag characteristic between the input and the output is controlled by the signal processing in the control unit 20 so that the flow rate of the supply oil does not suddenly change even when the electric lever 10 is suddenly operated. It was going to have.
[0009]
However, even with the first-order lag characteristic, as with the case where the throttle is provided in the pilot line, the response is delayed even at the time of fine operation because it acts on all operations regardless of the operation speed of the operation lever. Operability is reduced. In addition, if the first-order lag characteristic is provided, the response delay increases as the output value approaches the input command value. Therefore, even if the operation lever is returned to the neutral position, the stop is delayed, and the actual stop of the work equipment is performed. There was a risk that the position would exceed the target stop position.
[0010]
A work machine control method for a construction machine having a configuration similar to that of FIG. 11 has been proposed (Japanese Patent Laid-Open No. 2-115421), but this method simply selects from a plurality of modulation patterns set in advance. Since only the operation signal of the operation lever is converted and output according to the given pattern, if the operation speed of the operation lever changes on the way, the operation of the working machine cannot follow the change, Operability may be reduced.
[0011]
The present invention has been made to solve the above problem, and provides an operation control device and an operation control method capable of preventing a sudden operation of an actuator to be operated even when an operation means such as an operation lever is suddenly operated. Aim.
[0012]
It is another object of the present invention to provide an operation control device and an operation control method which do not cause an extra delay in the operation of the actuator when the operation means is operated normally and have good operability.
[0013]
[Means for Solving the Problems]
The present invention provides an operation signal output unit that outputs an operation signal corresponding to an amount of operation applied to the operation unit, a control signal conversion unit that converts the operation signal into a control signal, and an operation of the actuator using the control signal. Actuator control means for controlling the
The control signal conversion means, The difference between the operation signal output by the operation signal output unit and the control signal obtained by converting the operation signal output before the operation signal by the control signal conversion unit is calculated. Change speed calculating means for calculating, difference And comparing means for comparing a preset value with a preset value. difference Is smaller than the set value, the operation signal is transmitted to the control signal. Conversion to And above difference Above the set value above Outputs control signal with reduced difference (Claim 1).
[0014]
According to this configuration, the operation signal corresponding to the amount of operation applied to the operation means And the control signal converted from the operation signal output before this operation signal. Is calculated and this difference Is compared with a preset value. And The above difference When the value is below the set value, the above operation signal Is converted to the above control signal The operation of the actuator is controlled, The above difference Above when the value exceeds the set value A control signal with a smaller difference is output The operation of the actuator is controlled. by this, The above difference When a fine operation is performed on the operating means such that The converted control signal Since it is controlled by using, good fine operability is obtained. On the other hand, inadvertently or accidentally, The above difference When an abrupt operation is applied to the operating means such that the value exceeds the set value, Control that minimizes the difference The control is performed using the signal, so that a sudden operation of the actuator is prevented.
[0015]
In addition, the control signal conversion means is configured to control the difference Exceeds the above setting Output a control signal with the difference equal to the set value (Claim 2).
[0016]
According to this configuration, difference Above the set value above A control signal with the difference equal to the above set value is output By controlling the operation of the actuator, inadvertently or accidentally, The above difference When an abrupt operation is applied to the operating means such that the value exceeds the set value, A control signal with the above difference equal to the set value is output As a result, the sudden operation of the actuator is reliably prevented.
[0017]
The operation means is an operation lever of a hydraulic shovel or a hydraulic crane, and the operation signal output means includes an operation angle detection means for detecting an operation angle of the operation lever, and corresponds to the detected operation angle. The actuator is provided with a hydraulic control valve for controlling driving of a working machine of a hydraulic shovel or a hydraulic crane (claim 3).
[0018]
According to this configuration, the operator of the hydraulic excavator or the hydraulic crane, either inadvertently or accidentally, The above difference If a sudden operation is applied to the control lever so that A control signal with the above difference reduced is output By controlling the hydraulic control valve that controls the driving of the working machine such as a boom, an arm, a bucket, a turning mechanism, or a winch of a crane, the switching speed of the hydraulic control valve is reduced, and the working machine Abrupt operation is prevented.
[0019]
Also, The difference between an operation signal corresponding to the amount of operation applied to the operation means and a control signal for controlling the operation of the actuator based on the operation signal issued before the operation signal. And calculate this difference And a preset value, and compare the difference Is smaller than the set value, the operation signal is transmitted to the control signal. Conversion to And above difference Above the set value above Output a control signal with the difference reduced The operation of the actuator is controlled (claim 4).
[0020]
According to this method, The above difference When a fine operation is applied to the operating means such that Is converted to a control signal Since it is controlled, good fine operability is obtained. On the other hand, inadvertently or accidentally, The above difference When an abrupt operation is applied to the operating means such that the value exceeds the set value, A control signal with the above difference reduced is output As a result, the sudden operation of the actuator is prevented.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a block diagram showing a configuration of an embodiment of a hydraulic shovel to which the present invention is applied. FIG. 2 is a diagram showing characteristics of an output voltage U with respect to an operation angle θ of an operation lever 11 of an electric operation lever unit 1. is there.
[0022]
This hydraulic shovel includes an electric operation lever unit 1, a control unit 2, which will be described later, an electro-hydraulic conversion actuator 3, a main control valve 4, a hydraulic pump 5, a hydraulic cylinder 6, and a working machine 7. The electric operation lever unit 1 includes an operation lever 11, an operation angle detection unit 12, and a voltage conversion unit 13, and includes a boom, an arm, and a boom according to an operation amount of the operation lever 11 operated by an operator. The operation of the working machine 7 such as a bucket and a turning mechanism is performed.
[0023]
The operation lever 11 is attached to the lever holding portion 14 so as to be tiltable, and is operated by an operator to operate the work implement 7. The operation angle detector 12 detects the operation direction (+ or −) and the operation amount of the operation lever 11, that is, the operation angle θ. The voltage converter 13 converts the detected operation angle θ into a corresponding voltage signal U, as shown in FIG.
[0024]
As shown in FIG. 2, the operation lever 11 has an operable operation angle θ in a range of −25 ≦ θ ≦ 25 (°), and a range of the output voltage signal U in a range of −5 ≦ U ≦ At 5 (V), the voltage signal U has a one-to-one correspondence with the operation angle θ.
[0025]
The electro-hydraulic conversion actuator 3 converts the input current signal I (A) into a hydraulic pressure (pilot pressure). The main control valve 4 controls the flow rate of hydraulic oil supplied from the hydraulic pump 5 to the hydraulic cylinder 6. The main control valve 4 controls the opening degree of the valve according to the pilot pressure input from the electro-hydraulic conversion actuator 3. The hydraulic cylinder 6 drives the working machine 7 in accordance with the hydraulic oil supply flow rate.
[0026]
The control unit 2 will be described with reference to FIGS. 1, 3, and 4. 3 and 4 are diagrams for explaining the conversion characteristics of the voltage signal in the control unit 2. FIG. 3 shows the characteristics in a steady state, and FIG. 4 shows the characteristics in a transient state.
[0027]
The control unit 2 includes a ROM 21, a RAM 22, a level reading unit 23, a change speed calculating unit 24, a comparing unit 25, a signal converting unit 26, and a current output unit 27, and performs a process to be described later on the input voltage signal U. Is performed every sampling time Δt (sec), and is converted into a voltage signal W, and this converted voltage signal W is converted into a corresponding current signal I and output. Here, voltage signals U and W at time t are U (t) and W (t).
[0028]
The ROM 21 stores data such as a preset change rate S (V / sec) described later, and the RAM 22 temporarily stores the data.
[0029]
The level reading section 23 reads the level of the input voltage signal U every Δt (sec). Using the level of the read voltage signal U and the converted voltage signal W before Δt (sec) obtained by the signal conversion unit 26, the change speed calculation unit 24 uses the change speed, that is, the change amount per time U (t + Δt). ) -W (t).
[0030]
The comparison unit 25 calculates the change amount per time U (t + Δt) −W (t) and the set change amount S per time obtained from the set change speed S (V / sec) stored in the ROM 21. ₀ (V) = S (V / sec) × Δt (sec).
[0031]
The signal conversion unit 26 converts the voltage signal U into a voltage signal W according to the comparison result in the comparison unit 25. As shown in FIG. 4, | U (t + Δt) −W (t) | ≦ S ₀ , W (t + Δt) = U (t + Δt), while | U (t + Δt) −W (t) |> S ₀ W (t + Δt) = W (t) ± S ₀ The magnitude of the rate of change of the converted voltage signal W, that is, the magnitude of the variation per unit time, is determined by the set variation per unit time S ₀ Limited to:
[0032]
The current output unit 27 converts the converted voltage signal W into a current signal I having a level corresponding to the voltage level, and outputs the converted signal to the electro-hydraulic conversion actuator 3.
[0033]
FIG. 5 is a diagram for explaining the converted voltage signal W with respect to the input voltage signal U. The input voltage signal U is indicated by a broken line, and the converted voltage signal W is indicated by a solid line. In FIG. 5, the time change speed of the input voltage signal U, that is, the operation speed of the operation lever 11 gradually increases from the start of the operation, reaches the stroke end at 0.2 (sec), that is, reaches the voltage signal U = 5 (V). The lever 11 is maintained at the end position.
[0034]
At this time, the converted voltage signal W is | U (t + Δt) −W (t) | ≦ S at the beginning of the operation. ₀ , W = U, but | U (t + Δt) −W (t) |> S ₀ Then, W (t + Δt) −W (t) = S ₀ That is, it is limited to dW / dt = S and increases more slowly than the input voltage signal U, and reaches W = 5 (V) at 0.3 (sec) later than 0.2 (sec) of the input voltage signal U.
[0035]
As described above, when the operation lever 11 is suddenly operated and the magnitude | U (t + Δt) −W (t) | per unit time increases, the change speed of the converted voltage signal W is set to the set change speed. Since the response is delayed by limiting to S, the impact due to the sudden operation of the operation lever 11 can be suppressed, but the magnitude of the change amount per time | U (t + Δt) − When W (t) | is small, there is no delay in response, so that operability during fine operation is not impaired.
[0036]
Next, a method of determining the set change speed S will be described with reference to FIGS. FIG. 6 is a diagram showing characteristics when the set change speed S (V / sec) is changed when the operation lever 11 is suddenly operated to operate the hydraulic cylinder 6, and FIG. That is, it indicates the distance that the hydraulic cylinder 6 moves from when the operating lever 11 is returned to the neutral position to when the hydraulic cylinder 6 stops, and (b) indicates the shock G, that is, the acceleration of the work implement 7 when the operating lever 11 is returned to the neutral position. , Gravitational acceleration g as a unit.
[0037]
In FIG. 6A, the flow amount F1 indicated by the solid line is the flow amount when the operation lever 11 is suddenly operated, that is, the flow amount F2 indicated by the dashed line in FIG. 5, the flow amount when the operation lever 11 is operated normally, that is, when the input voltage signal U ′ (0.46 seconds from the start of operation to the end of the stroke) is indicated by the dashed line in FIG.
[0038]
In FIG. 6B, a shock G1 indicated by a solid line is a shock when the operation lever 11 is suddenly operated, that is, a shock when the input voltage signal U is indicated by a broken line in FIG. This is a shock when the operation lever 11 is operated normally, that is, when the input voltage signal U '(0.46 seconds from the start of operation to the end of the stroke) is indicated by a dashed line in FIG.
[0039]
When the set change speed S is reduced, the absolute value of the gradient of the change of the converted voltage signal W shown in FIG. 5 becomes smaller, so that the switching response of the main control valve 4 is delayed. Therefore, as shown in FIG. 6, the shock G at the time of starting and stopping the hydraulic cylinder 6 decreases, but the flow amount F increases. On the other hand, when the set change speed S is increased, the flow rate F decreases, but the shock G increases.
[0040]
As a result, even when the operation lever 11 is suddenly operated, when the point at which the flow rate F = 0 is set as the set change speed S, the shock G can be reduced without any characteristic deterioration compared to the conventional device. it can. Further, if the set change speed S is set to a value slightly smaller than the above-mentioned point, a slight flow amount F occurs at the time of sudden operation, but the shock G can be further reduced. Therefore, the value of the set change speed S may be set within an optimum range in designing a hydraulic shovel.
[0041]
For example, if the set change speed S is set to 12.5 ≦ S ≦ 20 (V / sec), the shock G can be reduced without increasing the flow rate F.
[0042]
At this time, when the change speeds 12.5 and 20 (V / sec) are converted into the switching time of one side total operation amount from the neutral position of the operation lever 11 to the end of the stroke, respectively,
5 (V) /12.5 (V / sec) = 0.4 (sec)
5 (V) / 20 (V / sec) = 0.25 (sec)
When the setting change speed S is 12.5 ≦ S ≦ 20 (V / sec), the switching time T of the total operation amount on one side of the operation lever 11 is 0.25 ≦ T ≦ 0.4 (sec).
[0043]
Generally, a so-called short lever joystick is used as the operation lever 11 of the hydraulic shovel, in which the maximum value of the switching speed of the one-side total operation amount is as short as about 0.2 (sec) in time, that is, a so-called short lever joystick. When 11 is suddenly operated, a large shock G occurs.
[0044]
However, according to the above-described embodiment, even when the operation lever 11 is suddenly operated, the change speed of the conversion voltage signal W is set so that the switching time of the total operation amount on one side of the operation lever 11 becomes 0.25 to 0.4 (sec). By limiting, it is possible to suppress an increase in the flow amount F at the time of stoppage and reduce the shock G.
[0045]
FIG. 7 is a flowchart showing a specific example of an operation procedure in the control unit 2 (FIG. 1). FIG. 8 is a view for explaining the operation. FIG. 7A shows | U (t + Δt) −W (t) | ≦ S ₀ In the case of (b), | U (t + Δt) −W (t) |> S ₀ In the case of (c), t _Ten | U (t + Δt) −W (t) |> S ₀ From | U (t + Δt) -W (t) | ≦ S ₀ Is switched to 7 and 8, the time t ₀ At U (t ₀ ) = W (t ₀ ).
[0046]
First, n = 0 is set (step # 110). Note that time t ₀ At U (t ₀ ) = W (t ₀ ). Next, it is determined whether or not the sampling time Δt (sec) has elapsed (step # 120), and every time the sampling time Δt (sec) has elapsed (YES in step # 120), the operations in and after step # 130 are performed. .
[0047]
In step # 130, U (t _n + Δt), and then the previous converted voltage signal W (t _n ), The input voltage signal U (t _n + Δt) changes more than the set change speed S, that is, U (t) _n + Δt) -W (t _n ) ≦ S ₀ It is determined whether it is (Step # 140).
[0048]
U (t _n + Δt) −V (t _n ) ≦ S ₀ If (YES in step # 140), the time change rate of the input voltage signal U is equal to or less than the set change rate S, so that W (t _n + Δt) = U (t _n + Δt) (step # 150), and the converted voltage signal W matches the input voltage signal U, as shown in FIG.
[0049]
On the other hand, U (t _n + Δt) -W (t _n )> S ₀ If (NO in step # 140), the time change rate of the input voltage signal U exceeds the set change rate S, so that W (t _n + Δt) = W (t _n ) + S ₀ (Step # 160), and as shown in FIG. 8B, the converted voltage signal W changes S by the sampling time Δt. ₀ Only the changed value.
[0050]
Then, following step # 150 or step # 160, W (t _{n + 1} ) = W (t _n + Δt), U (t _{n + 1} ) = U (t _n + Δt) (step # 170), then n ← n + 1 (step # 180), and the process returns to step # 120.
[0051]
According to the above procedure, the input voltage signal U can be converted into the converted voltage signal W while the change speed is limited to the set change speed S.
[0052]
Here, as shown in FIG. 8C, | U (t + Δt) −W (t) |> S ₀ From | U (t + Δt) -W (t) | ≦ S ₀ Will be described.
[0053]
In FIG. 8C, t ₀ From time t _Four Until the time point, U (t _n + Δt) -U (t _n )> S ₀ And U (t _n + Δt) -W (t _n )> S ₀ (NO in step # 140 above), so that W (t _n + Δt) = W (t _n ) + S ₀ (Step # 160 above), and the converted voltage signal W changes S by the sampling time Δt. ₀ It becomes the value which increased by each.
[0054]
t _Five After the time point, U (t _n + Δt) -U (t _n ) ≦ S ₀ , But still U (t _n + Δt) -W (t _n )> S ₀ (NO in step # 140 above), W (t _n + Δt) = W (t _n ) + S ₀ (Step # 160 above), and the converted voltage signal W changes S by the sampling time Δt. ₀ It becomes the value which increased by each.
[0055]
And t _Ten For the first time, U (t ₉ + Δt) -W (t ₉ ) = S ₀ (YES in step # 140 above), so W (t ₉ + Δt) = U (t ₉ + Δt) (step # 150 above), and t _Ten At this point, the converted voltage signal W matches the input voltage signal U.
[0056]
Note that the present invention is not limited to the above embodiment, but can adopt the following modified embodiments (1) to (3).
[0057]
(1) The conversion characteristic of the transient state of the voltage signal in the control unit 2 is | U (t + Δt) −W (t) | ≦ S as shown in FIG. 9 instead of FIG. ₀ | U (t + Δt) −W (t) |> S ₀ May be made gentler. In FIG. 9, | U (t + Δt) −W (t) |> S ₀ Is not limited to a straight line but may be a curve.
[0058]
(2) A volume or a dip switch for adjusting the value of the set change speed S steplessly is provided near the operation lever 11 so that the operator can adjust the value of the set change speed S within a predetermined range. You may make it. In this case, for example, if the operator is not confident in his / her skill, the operator can reduce the value of the set change speed S, and if he / she is confident, increase the value of the setting change speed S, thereby exhibiting the performance of the apparatus in accordance with his / her skill. it can.
[0059]
(3) In the above embodiment, the present invention is applied to the control of the main control valve 4. However, the present invention is also applicable to the control of other actuators and devices such as a hydraulic pump and a hydraulic cylinder operated by an operator. .
[0060]
【The invention's effect】
As described above, according to the present invention, The difference between the operation signal corresponding to the amount of operation applied to the operation means and the control signal converted from the operation signal output before this operation signal Is less than the set value, the operation signal is Conversion to And The above difference Above when the value exceeds the set value Outputs control signal with reduced difference To control the operation of the actuator, The above difference When a fine operation such that is less than or equal to the set value is applied to the operation means, good operability can be obtained in the fine operation, and inadvertently or accidentally, The above difference Can be prevented from suddenly operating even when a sudden operation is performed on the operating means such that the value exceeds the set value.
[0061]
Also, the above difference Exceeds the set value, the control signal Outputs a control signal with the above difference equal to the set value By controlling the operation of the actuator inadvertently or accidentally, The above difference Even when a sudden operation such as exceeding the set value is applied to the operation means, a sudden operation of the actuator can be reliably prevented.
[0062]
The operating means is an operating lever of a hydraulic shovel or a hydraulic crane, and the operating signal output means includes operating angle detecting means for detecting an operating angle of the operating lever, and outputs an operating signal corresponding to the detected operating angle. The actuator is provided with a hydraulic control valve for controlling the drive of the working machine of the hydraulic shovel or the hydraulic crane, so that the operator of the hydraulic shovel or the hydraulic crane inadvertently or erroneously, The above difference The switching speed of the hydraulic control valve can be slowed down even when sudden operation is applied to the operation lever so that the set lever exceeds the set value, which allows the boom, arm, bucket, swing mechanism, crane winch, etc. Abrupt operation of the working machine can be prevented. In particular, in the case of a hydraulic shovel or a hydraulic crane, the speed of the working machine is high and the acceleration is also large. It is possible to prevent a shock from occurring at times or the like.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of a hydraulic shovel to which the present invention is applied.
FIG. 2 is a diagram illustrating characteristics of an output voltage U with respect to an operation angle θ of an operation lever of an electric operation lever unit.
FIG. 3 is a diagram illustrating a conversion characteristic of a voltage signal in a steady state in a control unit.
FIG. 4 is a diagram illustrating conversion characteristics of a voltage signal in a transient state in a control unit.
FIG. 5 is a diagram for explaining a converted voltage signal W with respect to the input voltage signal U, in which the input voltage signal U is indicated by a broken line and the converted voltage signal W is indicated by a solid line.
FIG. 6 is a diagram showing characteristics when a set change speed S (V / sec) is changed when a hydraulic cylinder is operated by suddenly operating an operation lever, wherein (a) shows a flow amount F; (B) shows the magnitude of the shock G when the operating lever is returned to the neutral position.
FIG. 7 is a flowchart illustrating a specific example of an operation procedure in a control unit.
FIG. 8 is a diagram for explaining the operation of the control unit, where (a) shows | U (t + Δt) −W (t) | ≦ S ₀ In the case of (b), | U (t + Δt) −W (t) |> S ₀ In the case of (c), t _Ten | U (t + Δt) −W (t) |> S ₀ From | U (t + Δt) -W (t) | ≦ S ₀ Is switched to
FIG. 9 is a diagram illustrating different conversion characteristics of a voltage signal in a transient state in a control unit.
FIG. 10 is a block diagram showing a configuration of a conventional hydraulic shovel.
FIG. 11 is a block diagram showing a configuration of a conventional hydraulic shovel using an electric lever.
[Explanation of symbols]
1. Electric operating lever (operation means, operation signal output means)
11 Operation lever
12 Operation angle detector
13 Voltage converter
14 Lever holding part
2 control unit (control signal conversion means, change speed calculation means, comparison means, actuator control means)
21 ROM
22 RAM
23 Level reading unit
24 Change speed calculator
25 Comparison section
26 signal converter
27 Current output section
3 Electric-hydraulic conversion actuator
4. Main control valve (actuator, hydraulic control valve)
5 Hydraulic pump
6 Hydraulic cylinder
7 Working machine

Claims (4)

Operation signal output means for outputting an operation signal corresponding to the amount of operation applied to the operation means, control signal conversion means for converting the operation signal into a control signal, and an actuator for controlling the operation of the actuator using the control signal Control means,
The control signal conversion means calculates a difference between the operation signal output by the operation signal output means and a control signal obtained by converting the operation signal output before the operation signal by the control signal conversion means. A change speed calculating means for calculating, and a comparing means for comparing the difference with a preset set value, wherein when the difference is equal to or less than the set value, the operation signal is converted into the control signal , and the difference is calculated. An operation control device for outputting a control signal in which the difference is reduced when the set value is exceeded. 2. The operation control device according to claim 1, wherein said control signal conversion means outputs a control signal in which said difference is equal to said set value when said difference exceeds said set value . The operation means is an operation lever of a hydraulic shovel or a hydraulic crane, and the operation signal output means includes an operation angle detection means for detecting an operation angle of the operation lever, and an operation corresponding to the detected operation angle. The operation control device according to claim 1 or 2, wherein the operation control device outputs a signal, and the actuator includes a hydraulic control valve that controls driving of a working machine of a hydraulic shovel or a hydraulic crane. . An operation signal corresponding to the amount of operation applied to the operation means, based on the operation signal issued before this operation signal, it calculates a difference between the control signal for controlling the operation of the actuator, in advance and the difference and compares the set value, when the difference is below the set value of the operation signal is converted to the control signal, when said difference exceeds the set value, outputs a control signal to reduce the difference operation control method is characterized in that so as to control the operation of the actuator Te.

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