Work machine

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 actuatorsA,A, andA; in a case in which the velocity estimation model is established, a dynamic center-of-gravity position of a hydraulic excavatorin a case in which each of the actuatorsA,A, andA 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 actuatorsA,A, andA slowly decelerate. It is thereby possible to appropriately carry out operating velocity limiting on a front work implementand slow deceleration of the front work implementand 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.