| 摘要 |
PROBLEM TO BE SOLVED: To make the control of an attitude angle of a working machine based on the deviation to a target value and, at the same time, to control a haunching in the neighborhood of an attitude angle deviation making a code of controlled variable invert. SOLUTION: A change-over apparatus 606 is so constituted that -|Δδ|when an attitude angle deviationΔδcoincides with a code of rotational speed Tv4 of a bucket and|Δδ|when the code does not coincide are inputted to a function generation apparatus 607. Then, the function generating apparatus 607 outputs a coefficient (c) getting bigger than 1 with the decrease of an input value when input is negative and smaller than 1 with the increase of the input value when input is positive, and the rotation speed Tv4 is multiplied by coefficient (c) by means of a multiplier 608. A function generating apparatus 650 inputs an increasing and decreasing rotation speed Tv4d based on the attitude angle deviationΔδ, and the output of the multiplier 608 and rotation speed Tv4d are added by means of an additional point 651. A limiting circuit 660 is outputted when the rotation speed added by the additional point 651 is the same direction as that of the rotation speed Tv4, and it is so limited that the added rotation speed is not outputted when it is the opposite direction. Then, a blind sector additional circuit 670 adds value based on the attitude angle deviationΔδto the output of the limiting circuit 660 when the attitude angle deviationΔδis bigger than specific value in the direction opposite to the rotation speed Tv4.
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