CONTROLLER FOR EXCAVATORS

摘要

In order to improve the durability of a tooth edge of an excavator and thereby an excavation efficiency thereof as well, a penetration force control unit (70) controls a hydraulic winch HWD so that a detected penetration force attains a set level, whereby the speed of the excavator (10) is controlled. A descending speed control unit (50) is adapted to control the hydraulic winch HWD so that a detected descending speed attains a set level, whereby the speed of the excavator (10) is controlled. When a detected level of the descending speed exceeds a predetermined level during a control operation of the penetration force control unit (70), a selection unit (80) shifts the control operation to that by the descending speed control unit (50). The descending speed control unit (50) is adapted to control the descending speed by a proportional integration control operation, while the penetration force control unit (70) is adapted to control the penetration force by a proportional differentiation control operation. <IMAGE>