JPH0960608A - Actuator control device of hydraulic working machinery - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress vibration caused by shock at the time of which operation before the vibration is amplified, and carry out damping quickly. SOLUTION: Vibration caused by lowering operation of a winch motor 11 is detected by a vibration sensor 24, pilot flow rate supplied to a control valve 13 is reduced by an electromagnetic proportional flow rate control valve 20 in a lowering side pilot pipe passage 18 which is operated by a signal from a controller 21 when vibration occurs, and motion of the valve 13 is suppressed so as to reduce the change of winch motor flow rate.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator control device for controlling the operation of an actuator in a hydraulic work machine such as a hydraulic crane.

[0002]

2. Description of the Related Art The prior art will be described by taking a winch control device for a hydraulic crane as an example.

In FIG. 8, 1 is a winch driving hydraulic motor (hereinafter referred to as a winch motor), 2 is a main hydraulic pump as a hydraulic pressure supply source for the winch motor 1, and the main hydraulic pump 2 and the winch motor 1 are connected to each other. A hydraulic pilot switching type control valve (direction control valve) 3 is provided between the two.

The control valve 3 has hoisting / neutral / lowering positions in order from the upper side of the drawing, and the switching operation between these three positions actuates the winch motor 1, that is, hoisting / stopping the winch. , Each operation of the unwinding is controlled. Reference numeral 4 is a relief valve, and 5 is a counter balance valve.

Reference numeral 6 is a pressure reducing valve 6a, 6 on both the winding side and the winding side.
With a control valve (remote control valve) equipped with b, a secondary pressure is output to one of the pressure reducing valves 6a and 6b by operating the lever of the control valve 6, and this secondary pressure is used as a pilot pressure at the upper side of the control valve 3. And the pilot chambers 3a on the lower side,
3b is supplied to one side.

Reference numeral 7 denotes a winding upper side pilot pipe line of the operation valve 6, and 8
Is a pilot line on the lower side, 9 is an auxiliary hydraulic pump as a pilot hydraulic power source, and T is a tank.

[0007]

In such a winch control device, when the operating valve 5 is suddenly operated, the pilot pressure is suddenly introduced into the control valve 3 and the valve 3 is suddenly switched to operate. Winch motor 1
Suddenly starts and a shock occurs.

This shock is apt to occur especially when the load is suddenly operated to the unwinding side, and the shock is transmitted to the operator as vibration of the machine body, and the operation valve 6 is further moved by this vibration. There was a problem that the vibration was amplified more and more.

As a countermeasure against this point, it is considered that the operator slowly operates the operation valve 6 to prevent the shock itself, but it is a heavy operation burden for the operator to always force such an operation. , Fatigue becomes severe.

On the other hand, it is conceivable to provide a damper on the control valve 3 to slow the movement of the spool of the valve 3. However, in this case, the spool moving speed is always slowed down over the entire stroke, so that it takes time to switch the control valve 3 and the responsiveness deteriorates.

Therefore, the present invention provides an actuator control device for a hydraulic work machine capable of suppressing vibration due to shock in a stage before amplification and quickly dampening it.

[0012]

According to a first aspect of the present invention, there is provided a vibration detecting means for detecting the vibration generated by the operation of the actuator, and an actuator flow rate controlling means for controlling the supply flow rate to the actuator by being operated from the outside.
A controller for outputting a command signal to the actuator flow rate control means to reduce a change in the actuator flow rate with respect to the manipulated variable when the vibration is detected by the vibration detection means is provided.

According to a second aspect of the present invention, in the configuration of the first aspect, the controller includes a computing unit that determines whether or not the vibration detected by the vibration detecting means should be suppressed in comparison with vibration data stored in advance. An output unit that outputs a command signal for reducing the change in the actuator flow rate to the flow rate control unit when the calculation unit determines that the vibration is to be suppressed.

According to a third aspect of the present invention, in the structure of the first or second aspect, the actuator flow rate control means controls a hydraulic pilot switching type control valve for controlling the operation of the actuator, and a pilot pressure is supplied to the pilot chamber of the control valve. It is composed of an operation valve to be supplied and a pilot flow rate control valve which controls the flow rate of a pilot line connecting the operation valve and the pilot chamber of the control valve based on a signal from the controller.

According to the invention of claim 4, in the structure of claim 3, an electromagnetic proportional flow rate control valve is used as the pilot flow rate control valve.

According to a fifth aspect of the present invention, in the structure of the third aspect, the pilot flow rate control valve includes an open position for communicating the pilot chamber of the control valve with the operating valve and a shut-off position for communicating the pilot chamber with the tank. An electromagnetic directional control valve is used which is operated by switching between them.

According to a sixth aspect of the present invention, in the structure of the third aspect, the pilot flow rate control valve is provided between an open position for communicating the pilot chamber of the control valve with the operation valve and a shut-off position for communicating the pilot chamber with the tank. An electromagnetic switching valve that is switched and operated by the valve and a flow rate control valve that controls the pilot flow rate are provided between the electromagnetic switching valve and the operation valve.

According to a seventh aspect of the present invention, in the structure of the fifth or sixth aspect, a throttle is provided in the tank line that connects the pilot chamber of the control valve to the tank at the shutoff position of the electromagnetic switching valve.

According to an eighth aspect of the invention, in the configuration of the third aspect, the actuator flow rate control means supplies a pilot pressure to a hydraulic pilot switching type control valve for controlling the operation of the actuator and a pilot chamber of the control valve. The control valve includes a control valve and a pilot pressure control valve that controls the pressure in a pilot line connecting the control valve and the pilot chamber of the control valve based on a signal from the controller.

According to a ninth aspect of the present invention, in the configuration of the first or second aspect, the actuator flow rate control means controls a hydraulic pilot switching type control valve for controlling the operation of the actuator, and a pilot pressure is supplied to the pilot chamber of the control valve. It is configured by an operation valve to be supplied and an electromagnetic proportional flow rate control valve that controls the flow rate of an actuator circuit connecting a hydraulic pump and an actuator at a position different from the control valve based on a signal from a controller.

According to a tenth aspect of the present invention, in the structure according to any one of the first to ninth aspects, a vibration sensor for detecting the vibration of the machine body is provided as the vibration detecting means.

According to an eleventh aspect of the present invention, in the structure according to any one of the first to ninth aspects, a pressure sensor for detecting the pressure of the actuator control hydraulic circuit is provided as the vibration detecting means.

[0023]

According to the above construction, when the vibration detecting means detects the vibration due to the actuator operation, the actuator flow rate controlling means operates based on the signal from the controller, so that the change in the actuator flow rate with respect to the operation amount of the controlling means is small. It can be suppressed.

As a result, the change in the actuator speed is suppressed and the vibration is suppressed before being amplified, and the vibration is quickly damped.

In this case, according to the second aspect of the invention, the controller compares the detected vibration with the vibration data stored in advance, and the vibration suppressing action works only when it is determined that the vibration should be suppressed.

Therefore, as the vibration data, the vibration caused by the operation of the actuator is accurately obtained and stored from the aspect of the frequency and the amplitude, and unnecessary control with respect to the vibration caused by other causes can be eliminated and the vibration can be accurately obtained. Control can be performed.

On the other hand, with respect to the control system, claims 3 to 8
According to the above configuration, the flow rate of the pilot pipe for controlling the control valve of the hydraulic pilot switching type (claim 3 to
7) or the pressure (claim 8) is reduced, the movement of the control valve is suppressed, so that the change in the actuator flow rate is suppressed to a small level.

That is, the actuator is indirectly controlled by controlling the control valve through the pilot conduit.

For this reason, the control valve such as the flow control valve can be made small, and the control becomes easy.

On the other hand, according to the structure of claim 9, the actuator proportional flow rate is directly controlled by the electromagnetic proportional flow rate control valve provided in the actuator circuit, and the vibration suppressing action works.

Therefore, the control response is good, and more accurate control can be performed.

Further, the pilot flow rate is controlled.
According to the configuration of claim 4 among the configurations of 7 to 7, since the pilot flow rate can be continuously controlled by the electromagnetic proportional flow rate control valve, vibration is more likely to occur than in the configuration of opening and closing the pilot conduit (claim 5). It is possible to perform optimal control according to the state (magnitude of vibration, etc.).

However, according to the configuration of claim 5, the control is simple and the controller configuration is simple.

According to the structure of claim 6, since the electromagnetic switching valve for opening and closing the pilot line and the flow rate control valve for changing the pilot flow rate are combined, the line is shut off against large vibrations, for example. Other than that, it is possible to selectively use the control according to the vibration state, such as controlling the pilot flow rate.

Further, according to the structure of claim 7 which is based on the structure of claims 5 and 6 using the electromagnetic switching valve, the throttle is provided in the tank line connecting the pilot chamber of the control valve and the tank. It is possible to prevent the control valve from gently returning to the neutral position, to suddenly stop the actuator, and to prevent a new shock from occurring.

[0036]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS.

In the following embodiments, the winch motor control device of the hydraulic crane is applied as an example in accordance with the conventional description.

First Embodiment (see FIG. 1) 11 is a winch motor, 12 is this winch motor 11
Is a main hydraulic pump as a pressure oil supply source, 13 is a hydraulic pilot switching type control valve for controlling the operation (rotation direction and speed) of the winch motor 11, 14 is a relief valve, and 15 is a counterbalance valve.

The winding-up pilot chamber 13a of the control valve 13 is connected to the winding-up pressure reducing valve 16a of the operation valve 16 via the winding-up pilot line 17 and the winding-down pilot chamber 1
3b are respectively connected to the lower pressure reducing valve 16b through the lower pilot line 18. Reference numeral 19 is an auxiliary hydraulic pump as a pilot hydraulic power source, and T is a tank.

An electromagnetic proportional flow rate control valve (hereinafter, simply referred to as a proportional valve) 20 is provided in the unwinding side pilot conduit 18 of both pilot conduits 17 and 18, and a control valve 13, an operating valve 16 and the proportional valve are provided. 20 and 20 constitute a winch motor flow rate control means for controlling the flow rate supplied to the winch motor 11.

The opening of the proportional valve 20 continuously changes from the fully closed state in response to a command signal from the controller 21, whereby the flow rate in the declining pilot line 18 continuously changes.

The controller 21 comprises an arithmetic unit 22 and an output unit 23.

Predetermined vibration data obtained by experiments, that is, characteristic vibration characteristics (frequency and amplitude) of the machine body caused by the rapid lowering operation of the winch motor 11 are stored in advance in the calculation unit 22.

On the other hand, the machine body is provided with, for example, a vibration sensor 24 such as an acceleration sensor for detecting vibration of the machine body in an upper frame, and the calculation unit 22 stores the machine body vibration detected by the vibration sensor 24. If the vibration is to be suppressed, it is determined whether or not the vibration is to be suppressed. When it is determined to be the vibration to be suppressed, the command flow rate is calculated according to the vibration state such as the magnitude of the vibration, and the output unit 23
Outputs a flow rate command signal (current) to the proportional valve 20.

As a result, when vibration occurs due to the winch unwinding operation, the opening of the proportional valve 20 is narrowed and the unwinding side pilot flow rate is reduced, and the control valve 13
Since the movement toward the unwinding side stops or becomes smaller,
The change in the flow rate supplied to the winch motor 11 is suppressed to a small level (including the state where there is no flow rate change).

Therefore, even after the vibration is generated, the vibration is transmitted to the operator through the machine body, and even if the operation valve 16 is moved by the vibration, the speed change of the winch motor 11 becomes zero or small, so that the vibration may be amplified. No, it decays quickly.

After the vibration is damped, the controller 21 outputs a command signal in the direction of increasing the flow rate to the proportional valve 20, and the steady state is entered.

Second Embodiment (See FIG. 2) Only differences from the first embodiment will be described.

An electromagnetic switching valve 25 is provided in the unwinding pilot line 18 as a pilot flow control valve in place of the proportional valve 20 of the first embodiment.

This electromagnetic switching valve 25 is used in the controller 21.
And a shut-off position for communicating the pilot chamber 13b of the control valve 13 with the tank T through the tank line 26. Switch between b and operate.

That is, when vibration occurs due to the winch unwinding operation, the open position a is switched to the shut-off position b, the supply of pilot oil from the lower pilot chamber 13b is stopped, and at the same time, the oil in the pilot chamber 13b is stopped. The tank T
Return to

In this state, since the control valve 13 does not operate on the lower side, the winch motor 11 does not move even if the operation valve 16 is moved to the lower side by the vibration of the machine body.
No unwinding rotation is performed.

According to this configuration, the controller 21
The configuration of the controller 21 (calculation unit 22) is simple because it is only necessary to determine whether to open or close the electromagnetic switching valve 25 by comparing the vibration detected by the vibration sensor 24 with the stored vibration data. Mu.

Further, in this embodiment, the tank line 26
A throttle 27 is provided at the bottom, and the oil returning from the lower pilot chamber 13b to the tank T is throttled by the throttle 27.

In this way, when the electromagnetic switching valve 25 is shut off,
The control valve 13 gently returns to the neutral position,
Sudden stop of the winch motor 11 and generation of new shock due to this are prevented.

Third Embodiment (Refer to FIG. 3) Assuming the configuration of the second embodiment, an upstream side (pressure reducing valve 16) of the electromagnetic switching valve 25 in the unwinding side pilot conduit 18 is assumed.
An electromagnetic switching type flow rate control valve 28 for changing the unwinding side pilot flow rate is provided on the (b side), and both valves 25, 28 are configured to be controlled by the controller 21.

According to this structure, for example, the electromagnetic switching valve 25 shuts off the pilot line 18 for large vibrations exceeding a preset value, and otherwise the electromagnetic proportional flow control valve 28 responds to the vibration state. By controlling the magnitude of the pilot flow rate, it is possible to properly use the control according to the vibration state.

Instead of the electromagnetic switching type flow rate control valve 28, an electromagnetic proportional type flow rate control valve for continuously changing the pilot flow rate may be used.

Fourth Embodiment (see FIG. 4) An electromagnetic proportional pressure reducing valve 29 is provided in the unwinding pilot line 18, and a secondary pressure of the pressure reducing valve 29 is generated by a command signal from the controller 21 according to the vibration state. That is, the pilot pressure introduced into the unwinding pilot chamber 13b is controlled.

By controlling the unwinding side pilot pressure in this way, the control of the control valve 13, that is, the winch motor 11 can be performed more accurately than in the case of controlling the unwinding side pilot flow rate. .

Fifth Embodiment (See FIG. 5) As a means for remotely controlling the control valve 13, instead of the operation valve 16 of each of the first to fourth embodiments, an electric operation for generating an electric command signal by lever operation. A body (potentiometer) 30 is used, and an electromagnetic proportional pressure reducing valve 31, 3 for both the winding side and the winding side is generated by a command signal from the operating body 30.
The secondary pressure of 2, that is, the pilot pressure with respect to both the upper and lower pilot chambers 13a and 13b of the control valve 13 changes.

The command signal is input to the arithmetic unit 22 of the controller 21 together with the signal from the vibration sensor 24, and when the vibration due to the winch winding operation is not detected, the pressure reducing valves 31, 32 are controlled by the command signal. .

On the other hand, when the vibration is detected, the control signal for the lower pressure reducing valve 32 is calculated in accordance with the vibration state instead of the command signal from the operating body 30. Output from the pressure reducing valve 3
The unwinding side pilot pressure from 2 is suppressed low, and the movement of the control valve 13 on the unwinding side is suppressed.

Sixth Embodiment (see FIG. 6) In each of the above-described embodiments, the winch motor 11 is indirectly controlled by restricting the movement of the control valve 13 on the unwinding side. In the sixth embodiment, an electromagnetic proportional flow rate control valve 33 is provided in the unwinding side pipeline of the winch motor 11, and the control valve 33 is controlled by the controller 21 to directly control the unwinding side flow rate of the winch motor 11. ing.

According to this direct control method, the responsiveness of control of the winch motor 11 is improved and more accurate control can be performed, as compared with the indirect control method.

The operation valve 16 and the pilot lines 17 and 18 are not shown in FIG.

Seventh Embodiment (See FIG. 7) In each of the first to sixth embodiments, the vibration sensor 24 detects the vibration of the machine body, whereas in the seventh embodiment, the winch motor 11 is used. It is configured to detect the pressure of the control hydraulic circuit.

That is, the outlet side pressure of the winch motor 11 at the time of winding is detected by the pressure sensor 34, and the controller 21
In the calculation unit 22 of, the detected pulsation state of the pressure is compared with the pulsation state (frequency or amplitude) of the pressure due to the operation of the winch motor, which is obtained in advance by experiment and stored, and whether the vibration should be suppressed. Determine whether or not, and if necessary, first
Taking the configuration of the embodiment as an example, the configuration is such that the electromagnetic proportional flow rate control valve 20 provided in the unwinding side pilot conduit 18 is controlled.

Alternatively, as shown by the phantom line in FIG. 7, the pressure sensor 34 may detect the pulsation of the unwinding pilot pressure generated when the operation valve 16 is moved by vibration.

By the way, since the vibrations caused by the operation of the winch motor 11 are particularly likely to occur at the time of unwinding, in each of the above-described embodiments, the operation of controlling the unwinding side of the motor 11 is controlled, but if necessary, The operation of the winding side may be similarly controlled.

The present invention is not limited to the winch motor,
It can also be applied to other actuator control devices such as crane boom hoisting cylinder circuits.

[0072]

As described above, according to the present invention, the vibration generated by the operation of the actuator is detected by the vibration detecting means, and when the vibration occurs, the controller causes the actuator flow rate control means to reduce the change of the actuator flow rate with respect to the operation amount. Since it is configured to send the signal in the direction to suppress the change in the actuator speed, it is possible to suppress the vibration before the amplification and quickly damp it.

In this case, according to the second aspect of the invention, the controller compares the detected vibration with the vibration data stored in advance, and the vibration suppressing action works only when it is determined that the vibration should be suppressed. As vibration data, the vibration caused by the operation of the actuator is accurately calculated from the frequency and amplitude planes and stored in memory to eliminate unnecessary control for vibrations due to other causes (eg gusts) and provide accurate control. It can be performed.

On the other hand, regarding the control method, the third to eighth aspects are provided.
According to the invention of claim 1, the flow rate of the pilot line for controlling the control valve of the hydraulic pilot switching type (claim 3 to
7) or the pressure (Claim 8) is used to suppress the movement of the control valve, that is, the control valve is controlled through a pilot line for which both the flow rate and the pressure are small, and the actuator flow rate is controlled. A control valve such as a control valve can be small and control is easy.

On the other hand, according to the ninth aspect of the present invention, since the actuator flow rate is directly controlled by the electromagnetic proportional flow rate control valve provided in the actuator circuit, the control response is good and a more accurate control is achieved. It can be performed.

Further, the pilot flow rate is controlled.
According to the invention of claim 4 among the inventions of to 7, since the pilot flow rate can be continuously controlled by the electromagnetic proportional flow rate control valve, compared with the case of opening and closing the pilot conduit (invention of claim 5), It is possible to perform optimum control according to the vibration state (magnitude of vibration, etc.).

However, according to the invention of claim 5, the control is simplified and the controller configuration is simple.

According to the invention of claim 6, since the electromagnetic switching valve for opening and closing the pilot pipe and the flow control valve for changing the pilot flow rate are combined, the pipe is blocked for large vibrations, for example. Other than that, it is possible to selectively use the control according to the vibration state, such as controlling the pilot flow rate.

Further, according to the invention of claim 7, which is premised on the configuration of claims 5 and 6 using the electromagnetic switching valve, a throttle is provided in the tank line connecting the pilot chamber of the control valve and the tank. It is possible to prevent the control valve from gently returning to the neutral position, to suddenly stop the actuator, and to prevent a new shock from occurring.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an apparatus showing a first embodiment of the present invention.

FIG. 2 is an overall configuration diagram of an apparatus showing a second embodiment of the present invention.

FIG. 3 is an overall configuration diagram of an apparatus showing a third embodiment of the present invention.

FIG. 4 is an overall configuration diagram of an apparatus showing a fourth embodiment of the present invention.

FIG. 5 is an overall configuration diagram of an apparatus showing a fifth embodiment of the present invention.

FIG. 6 is a partially omitted configuration diagram of an apparatus showing a sixth embodiment of the present invention.

FIG. 7 is an overall configuration diagram of an apparatus showing a seventh embodiment of the present invention.

FIG. 8 is an overall configuration diagram showing a conventional device.

[Explanation of symbols]

11 Winch Motor as Actuator 12 Hydraulic Pump 13 Control Valve Constituting Flow Rate Control Device 16 Operation Valve 20 Same Electromagnetic Proportional Flow Control Valve 18 Unwinding Pilot Pipeline 21 Controller 22 Computing Section 23 Output Section 24 Detecting Vibration of Machine Body Vibration sensor as vibration detecting means 25 Electromagnetic switching valve 28 Electromagnetic switching type flow control valve 27 Throttling 29 Electromagnetic proportional pressure reducing valve 30 Electric operation body constituting actuator flow rate controlling means 32 Downward side electromagnetic proportional pressure reducing valve 33 Winch motor Electromagnetic proportional flow rate control valve 34 provided on the lower side pipeline 34 Pressure sensor as vibration detecting means for detecting pulsation of hydraulic pressure

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location G05D 19/02 G05D 19/02 D

Claims (11)

[Claims] 1. A vibration detecting means for detecting a vibration generated by the operation of an actuator, an actuator flow rate controlling means for controlling a supply flow rate to an actuator by operating from the outside, and a vibration detecting means for detecting a vibration. An actuator control device for a hydraulic working machine, comprising: a controller that outputs a command signal for reducing a change in the actuator flow rate with respect to an operation amount to the actuator flow rate control means. 2. The hydraulic work machine according to claim 1, wherein the controller determines whether or not the vibration detected by the vibration detecting means should be suppressed in comparison with vibration data stored in advance, A hydraulic system comprising: an output unit that outputs a command signal to the flow rate control unit to reduce the change in the actuator flow rate when the calculation unit determines that the vibration is to be suppressed. Actuator control device for work machines. 3. The actuator control device for a hydraulic work machine according to claim 1, wherein the actuator flow rate control means includes a hydraulic pilot switching control valve for controlling the operation of the actuator and a pilot chamber of the control valve. It is characterized by being constituted by an operation valve for supplying pilot pressure and a pilot flow rate control valve for controlling the flow rate of a pilot line connecting the operation valve and the pilot chamber of the control valve based on a signal from the controller. Actuator control device for hydraulic work machines. 4. An actuator control device for a hydraulic work machine according to claim 3, wherein an electromagnetic proportional flow control valve is used as the pilot flow control valve. 5. The pilot flow control valve is an electromagnetic switching valve that operates by switching between an open position where the pilot chamber of the control valve communicates with the operating valve and a shut-off position where the pilot chamber communicates with the tank. The actuator control device for a hydraulic work machine according to claim 3, wherein 6. A pilot flow control valve, which is an electromagnetic switching valve that operates by switching between an opening position where a pilot chamber of a control valve communicates with an operating valve and a shut-off position where the pilot chamber communicates with a tank, and an electromagnetic switching valve The actuator control device for a hydraulic work machine according to claim 3, further comprising: a flow rate control valve that controls a pilot flow rate between the switching valve and the operation valve. 7. The tank line for connecting the pilot chamber of the control valve to the tank at the shutoff position of the electromagnetic switching valve is provided with a throttle.
An actuator control device for the hydraulic work machine described. 8. The actuator control device for a hydraulic work machine according to claim 3, wherein the actuator flow rate control means controls a hydraulic pilot switching type control valve for controlling the operation of the actuator, and a pilot pressure in a pilot chamber of the control valve. Operating valve for supplying
An actuator control device for a hydraulic work machine, comprising: a pilot pressure control valve that controls the pressure in a pilot line connecting the operation valve and a pilot chamber of the control valve based on a signal from a controller. 9. The actuator control device for a hydraulic work machine according to claim 1, wherein the actuator flow rate control means includes a hydraulic pilot switching control valve for controlling the operation of the actuator and a pilot chamber of the control valve. It is composed of an operation valve that supplies pilot pressure and an electromagnetic proportional flow control valve that controls the flow rate of an actuator circuit that connects the hydraulic pump and the actuator at a position different from the control valve based on a signal from the controller. An actuator control device for a hydraulic working machine characterized by: 10. The actuator control device for a hydraulic work machine according to claim 1, wherein a vibration sensor for detecting vibration of the machine body is provided as the vibration detecting means. 11. The actuator control device for a hydraulic working machine according to claim 1, wherein a pressure sensor for detecting the pressure of the actuator control hydraulic circuit is provided as the vibration detecting means.