TARGET VALUE SETTING METHOD FOR ATTITUDE CONTROL OF WORKING VEHICLE

摘要

PROBLEM TO BE SOLVED: To improve the operability of a working vehicle provided with a right and a left running devices, which can be separately displaced in the vertical direction, at the time of moving the attitude control from the manual control to the automatic control by setting a numeric, which is obtained by processing the last detection values of an inclination sensor and a right and a left height sensors, as a target value. ;SOLUTION: In a combine, a right and a left hydraulic cylinders 36R, 36L are separately telescoped so as to separately displace a right and a left running devices 2R, 2L in the vertical direction. The output of an inclination angle sensor for detecting the right and the left inclination of a machine body and a right and a left height sensors are taken into a control device, and the control device computes the moving average of plural detection values so as to obtain the inclination value to be used for the attitude control. At this stage, even in the case where the inclination angle sensor and the right and the left height sensors are set at the manual mode, sensing and the processing of the detection value are continued, and at the time of concluding the manual mode, each target value of the angle of inclination and car height is renewed to the moving average value of plural detection values after the predetermined time is passed from the manual mode concluding time, and control is reset to the automatic mode.;COPYRIGHT: (C)1997,JPO