| 摘要 |
PURPOSE:To prevent hunting being generated, by switching no control even if an excavation angle temporally exceeds the set value while the angle is a uniform angle, after the control of a loading shovel for controlling horizontal excavation and foreground excavation selectively is switched. CONSTITUTION:When the bucket 4 of a loading shovel is horizontally extruded for excavation, then in case that a bucket excavation angle theta to an automatic controller is larger than a set value theta1, foreground horizontal-excavation control is performed, and in case that the angle theta is smaller than the set value theta1, horizontal excavation control is performed. Then, the edge of the bucket 4 is moved on a straight line, and horizontal excavation can be performed. In this case, the second set value of a uniform angle lager than the set value theta1 is set, and while thetaq<theta<theta2, flag=0 is set, and even if theta1<theta is temporally set on account of vibration or the like, foreground horizontal-excavation control stop command is always generated, and horizontal-excavation control is contin ued. As a result, hunting is prevented from being generated. |
