Construction machine, method for controlling construction machine, and program for causing computer to execute the method

摘要

A controller constituting a construction machine includes: a target value computing unit that generates a speed target value of a boom based on a lever manipulating signal; a target value correcting unit that corrects the speed target value; and a command signal output unit that outputs a command signal to a boom driving device based on the corrected speed target value. The target value correcting unit includes: a motion information acquiring unit that acquires motion information on a motion of an arm; a maximum value determining unit that determines based on the motion information a maximum correction value for reducing suppression of a floating motion by a floating motion suppressing unit as the motion of the arm becomes faster; and a correction value regulating unit that corrects the speed target value based on the maximum correction value.

主权项

1. A construction machine comprising:
an undercarriage; an upper revolving body; a working equipment provided with a boom and an arm, the working equipment being provided on the upper revolving body; a floating motion suppressing unit that suppresses a floating motion of the undercarriage corresponding to a motion of the boom; and a controller that controls the working equipment, wherein power to the working equipment is distributed and fed to a boom driving device that moves the boom and an arm driving device that moves the arm, the controller comprises:
a manipulating signal input unit comprising a target value computing unit that generates a motion target value of the boom based on a manipulating signal inputted by a boom manipulating unit that manipulates the boom;a target value correcting unit that corrects the motion target value; anda command signal output unit that outputs a command signal to the boom driving device based on the corrected motion target value, and the target value correcting unit comprises:
a motion information acquiring unit that acquires a motion information of the arm, the motion information being a motion speed of the arm relative to the boom and being based on one of a manipulation command of the arm and a motion of the arm;a maximum value determining unit that determines, based on the motion information, a maximum correction value for reducing suppression of a floating motion by the floating motion suppressing unit based on the motion speed of the arm becoming greater than a predetermined motion speed; anda correction value regulating unit that corrects the motion target value based on the maximum correction value.