Importance

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Abstract

It is determined whether a velocity estimation model is established from an actual operating velocity Vr and a target operating velocity Vt of each of actuators 20A, 21A, and 22A; in a case in which the velocity estimation model is established, a dynamic center-of-gravity position of a hydraulic excavator 1 in a case in which each of the actuators 20A, 21A, and 22A is suddenly stopped from a driven state is predicted from an estimated operating velocity Ve; in a case in which the velocity estimation model is not established, the dynamic center-of-gravity position is predicted from the actual operating velocity Vr and it is determined whether to execute control intervention using the predicted dynamic center-of-gravity position; and in a case in which it is determined to execute the control intervention, the target operating velocity Vt is corrected in such a manner that each of the actuators 20A, 21A, and 22A slowly decelerate. It is thereby possible to appropriately carry out operating velocity limiting on a front work implement 2 and slow deceleration of the front work implement 2 and to suppress reductions in workability and operability, a deterioration in a ride quality, and the like even in a case of work involving an abrupt change in disturbance or a change in the lever operation amount within minute time.

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First Claim