CONTROLLER FOR POWER SHOVEL

PURPOSE:To automatically drive a power shovel to the starting point of excavation after discharging soil by using a controlling system in which an arm is manually operated, a boom and a bucket are automatically operated by the feedback control circuit of visually measured values and actually detected angles, and each angle at the beginning of excavation is stored. CONSTITUTION:Stored angles (memory 11, 12, and 13) of a bucket, an arm, and a boom at the starting point of excavation are compared with the detected angles (signals 9 and 10) of the boom and bucket in a feedback control circuit, signals corresponding to the target angular velocities of the boom and bucket on the basis of arm angle signal 8 and arm angular velocity signal 7 are corrected by the pressures of a boom cylinder 24 and a bucket cylinder 35 and put in each control circuit (21 and 32), and the detected values of the angular velocities of the boom and bucket are fed back to each feedback control circuit (28-27-20 and 38-37-31). In this way, any shape of excavation is performed while manually operating the arm.