| 摘要 |
PROBLEM TO BE SOLVED: To provide a boom device capable of horizontally moving the tip of a boom, without largely missing a target height, and without largely reducing throughput.SOLUTION: This device executes acquisition processing (S11) for acquiring a horizontal moving speed V(t) on the tip of a boom, calculation processing (S12-S14) for calculating an expansion speed and a derricking speed of the boom and driving processing (S16) for expanding the boom by an expansion actuator at an expansion speed and derricking the boom by a derricking actuator at a derricking speed. A control part increases a reduction quantity of the expansion speed as a difference between a tip height and a limit height becomes small in correction processing (S15) when horizontally moving the tip of the boom in the direction for keeping away from the base. The control part also increases an increase quantity of the expansion speed as the difference between the tip height and the limit height becomes small in the correction processing (S15) when horizontally moving the tip of the boom in the approaching direction to the base.SELECTED DRAWING: Figure 3 |
