PROBLEM TO BE SOLVED: To prevent hunting effectively, and thereby making a working machine be positioned in a target position quickly and accurately.SOLUTION: A control device performs the operation control of an actuator so that the deviation between a real position and a target position may be in an insensitive area of a first width. The control device executes insensitive area variable control for performing operation control of the actuator by changing the insensitive area into the second width larger than the first width when the deviation is in the insensitive area of the first width and changing the insensitive area into the first width when the deviation comes off from the insensitive area of the second width. Also, the control device uses a standard control signal based on a position deviation and a real angular velocity in the case the angular acceleration is in a predetermined threshold in the operation control of the actuator, and calculates an estimated angular velocity applying correction according to the angular acceleration to a real angular velocity in the case the angular acceleration exceeds the predetermined threshold, and thereby uses predictive control signal based on the position deviation and the estimated angular velocity.SELECTED DRAWING: Figure 6COPYRIGHT: (C)2017,JPO&INPIT【課題】ハンチングを有効に防止し、作業機を目標位置に迅速且つ正確に位置させる。【解決手段】制御装置は、実位置及び目標位置の間の偏差が第1幅の不感帯内に入るようにアクチュエータの作動制御を行い、前記偏差が第1幅の不感帯内に入ると不感帯を第1幅より大きい第2幅に変更し、前記偏差が第2幅の不感帯から外れると不感帯を第1幅に変更して前記アクチュエータの作動制御を行う不感帯可変制御を実行すると共に、前記アクチュエータの作動制御に際しては、角加速度が所定の閾値以内の場合には、位置偏差と実角速度とに基づく標準制御信号を用い、角加速度が所定の閾値を超える場合には、実角速度に対して角加速度に応じた補正を加えた予測角速度を算出し、位置偏差と予測角速度とに基づく予測制御信号を用いる。【選択図】図6
