WORK CONTROL METHOD, WORK CONTROL SYSTEM, AND WORK CONTROL APPARATUS OF CONSTRUCTION MACHINE: Fid-Bau Portal

WORK CONTROL METHOD, WORK CONTROL SYSTEM, AND WORK CONTROL APPARATUS OF CONSTRUCTION MACHINE

YOSHIMOTO TATSUYA / YOSHIDA HIROSHI

In a related method, there is a problem that an accuracy of control is not sufficiently high. A work control method of a construction machine according to the present invention includes: control parameter adjustment processing for adjusting a control gain for each control section, which is a unit section of control; and feedback control processing for computing a feedback control input value for controlling the posture of a construction machine using the control gain, in which the control parameter adjustment processing includes: overshoot computation processing for computing an amount of overshoot of a posture detection value with respect to a target position in a previous control section; addition/subtraction rate computation processing for computing a control gain addition/subtraction rate, which is an addition/subtraction rate of the control gain in the next control section, based on the amount of overshoot; addition/subtraction rate smoothing processing for computing a post-smoothing addition/subtraction rate in which the control gain addition/subtraction rate is smoothed based on a post-smoothing addition-subtraction rate computed in the previous control section and the control gain addition/subtraction rate; and control gain computation processing for computing the control gain in the next control section from the post-smoothing addition/subtraction rate.

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