An excavator includes a lower traveling body; an upper turning body mounted on the lower traveling body; an attachment attached to the upper turning body; an attitude detecting device configured to detect an attitude of the attachment including a bucket; and a control device configured to control a toe angle of a toe of the bucket with respect to an excavation ground, based on a transition of the attitude of the attachment, information relating to a present shape of the excavation ground, and an operation content of an operation device relating to the attachment.

A distance calculation unit calculates a bucket distance that is a distance between a point on a bucket and a target design surface representing a target shape of an excavation target. An intervention control unit calculates an intervention control amount to suppress a speed of work equipment such that the bucket does not intrude on the target design surface based on the bucket distance. An attachment control unit calculates an attachment control amount to rotate the bucket around an attachment axis such that an edge of the bucket and the target design surface approach each other in a parallel state. An attachment limiting unit limits rotation of the bucket around the attachment axis such that the bucket distance is not increased by a movement of the work equipment based on the intervention control amount and the attachment control amount.

A feedback control device determines a first target angular velocity that is a target angular velocity of an output angular velocity of the target device, using a first transfer function, determines a control input to the target device, based on a difference between the first target angular velocity and the output angular velocity, determines, based on the operation input, a second target angular velocity that is the target angular velocity requested by an operator, determines a degree of comfort of the operator, based on a difference between the output angular velocity and the second target angular velocity, sequentially accumulates the first target angular velocity, the degree of comfort, and a target degree of comfort in a database, and adjusts a first moment of inertia in such a way as to reduce a difference between the target degree of comfort and the degree of comfort, using data accumulated in the database.

A feedback control device determines a first target angular velocity that is a target angular velocity of an output angular velocity of the target device, using a first transfer function, determines a control input to the target device, based on a difference between the first target angular velocity and the output angular velocity, determines, based on the operation input, a second target angular velocity that is the target angular velocity requested by an operator, determines a degree of comfort of the operator, based on a difference between the output angular velocity and the second target angular velocity, sequentially accumulates the first target angular velocity, the degree of comfort, and a target degree of comfort in a database, and adjusts a first moment of inertia in such a way as to reduce a difference between the target degree of comfort and the degree of comfort, using data accumulated in the database.

A system for performing an earthmoving operation may include a work vehicle having an articulable implement and a soil composition sensor supported on the work vehicle. The soil composition sensor may generate data indicative of a soil composition below a surface of a worksite. The system may additionally include a computing system communicatively coupled to the soil composition sensor and the work vehicle. The computing system may receive an input associated with a target profile of the worksite. The computing system may further receive the data indicative of the soil composition of the worksite. Additionally, the computing system may generate an earthmoving prescription map based at least in part on the target profile of the worksite and the soil composition of the worksite, where the earthmoving prescription map indicates soil composition layers between the surface of the worksite and the target profile of the worksite.

A work machine includes a chassis, a boom coupled to the chassis, and a work implement coupled to the boom and movable relative to the chassis. In system may further include dynamic payload weighing system configured to measure the payload weight on the work implement. The system may also include an electrohydraulic system controller in communication with the dynamic payload weighing system and an electrohydraulic control valve electrically coupled to the electrohydraulic system controller and moveable to a plurality of weight-specific valve positions based on the measured payload weight on the implement.

In a control method for construction machinery, an operation performed by the construction machinery is divided into a plurality of subordinate works. A current subordinate work currently performed by the construction machinery is determined. A maximum absorbing torque of a hydraulic pump is adjusted according to the determined subordinate work. An engine speed change map is adjusted according to the determined subordinate work.

A load in a bucket is weighed accurately in a short time period. A work machine includes a bucket and a controller. The controller determines a period in which a parameter related to a load weight in the bucket fluctuates with respect to time. The controller averages load weights at a plurality of time points within the period to calculate an average load weight.

One embodiment of a hydraulic system for a machine has a first hydraulic circuit including a first pump coupled to a first hydraulic actuator configured to move a first implement of the machine. A second hydraulic circuit includes a second pump coupled to a second hydraulic actuator configured to move a second implement. An electric motor mechanically couples to the first pump and to the second pump. An operator interface receives input from an operator requesting movement of the first and second implements. A controller communicatively coupled to the electric motor and to the operator interface determines, based on the requested movement of the first and second implements respectively, first and second flow allocations respectively for the first and second pumps and determines respective target displacements for the first and second pumps. The controller also determines first and second target electric motor speeds based on the target displacements for the first and second pumps, respectively, and controls the electric motor to operate at the larger of the first and second target electric motor speeds.

A work machine includes systems and methods for stability control based on operating values. The work machine includes a control system having a sensor system with a load sensor, an arm position sensor, and an articulation angle sensor. A controller is in communication with the sensor system. The controller is configured to receive a movement command and to receive a set of values from the sensor system. The controller is configured to determine an operational window for normal operation of the work vehicle based on the received set of values, determine a movement limit based on the received set of values, and limit movement of a component beyond the movement limit.