| 摘要 |
PURPOSE:To make operations easier by a method in which yawing acceleration is integrated to calculate bending amounts for every given interval, and the driving condition of an actuator is controlled to approach the integral value of bending amount to zero. CONSTITUTION:A controller 30 judges that a tilt lever 11 is on neutral position. When timing signal is sent out from a timing setter 21, measured values x'' and theta by a yawing acceleration meter 13 and an inclinometer 14 are received. On the basis of the values x'' and theta, travel bending amount (x) during the interval time of tiltdozer is obtained. The integral value X of bending amount is compared with an allowable limit value (x0), and when X<=x0, present flow rate command signal S1 or S2 is fixed to keep the present tilt angle of the blade. When X>x0 and the sign of integral value X is negative, the signal S is increased, tilt cylinder 50 is contracted, and the blade is tilted to the left. When the sign is positive, the signal S1 is increased, the cylinder 50 is extended, and the blade is tilted to the right.
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