Construction work machine with corrective power control
First Claim
1. A work machine comprising:
- a multi-joint work device for forming a target construction surface;
a plurality of hydraulic actuators for driving the work device based on control signals; and
a controller configured to calculate based on a distance from the work device to the target construction surface a trajectory corrective control signal that is a control signal for at least one correction target hydraulic actuator among the plurality of hydraulic actuators such that a motion trajectory of the work device is maintained above the target construction surface, whereinthe controller is further configured to calculate, when a difference between a target power and an actual power of at least one particular hydraulic actuator among the plurality of hydraulic actuators is larger than a predetermined output power value, a power corrective control signal that is a control signal for the correction target hydraulic actuator based on a drive pressure of the particular hydraulic actuator, andthe correction target hydraulic actuator is controlled based on a larger one of the power corrective control signal and the trajectory corrective control signal while the particular hydraulic actuator is being operated.
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Accused Products
Abstract
The invention provides a work machine that achieves high accuracy of forming a target construction surface and reduced fuel consumption. A trajectory corrective Pi pressure calculation section calculates a trajectory corrective pressure, which is a control signal for a boom cylinder, based on the distance from a front work device to a target construction surface such that the motion trajectory of the work device is maintained above the target construction surface. A power corrective Pi pressure calculation section calculates a power corrective pressure, which is a control signal for the boom cylinder, based on the bottom pressure of an arm cylinder when the difference between the target power and actual power of the arm cylinder is larger than a predetermined output power value. The boom cylinder is controlled based on the larger of the power corrective pressure and the trajectory corrective pressure while the arm cylinder is being operated.
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Citations
5 Claims
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1. A work machine comprising:
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a multi-joint work device for forming a target construction surface; a plurality of hydraulic actuators for driving the work device based on control signals; and a controller configured to calculate based on a distance from the work device to the target construction surface a trajectory corrective control signal that is a control signal for at least one correction target hydraulic actuator among the plurality of hydraulic actuators such that a motion trajectory of the work device is maintained above the target construction surface, wherein the controller is further configured to calculate, when a difference between a target power and an actual power of at least one particular hydraulic actuator among the plurality of hydraulic actuators is larger than a predetermined output power value, a power corrective control signal that is a control signal for the correction target hydraulic actuator based on a drive pressure of the particular hydraulic actuator, and the correction target hydraulic actuator is controlled based on a larger one of the power corrective control signal and the trajectory corrective control signal while the particular hydraulic actuator is being operated. - View Dependent Claims (2, 3, 4, 5)
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Specification