GROUND CONSTRUCTION MACHINE CONTROL METHOD, AND GROUND CONSTRUCTION MACHINE

To provide a control method for ground construction machines that can set the upper limit and lower limit for the drive torque of tools and perform automatic speed change between the limits stably and smoothly, and in which a blade cutting frequency for an agitation tool reliably reaches a target value.SOLUTION: The present invention is a control method for a ground construction machine including an agitation tool 11, a hydraulic motor 81 that can continuously change displacement volumes, and a pressure detector 86 for a liquid supplied to the hydraulic motor. The control method includes setting an upper limit and lower limit for the drive torque of the tool and a plurality of speeds between the limits, setting lower reference and upper reference values for the pressure of supplied liquid and reference time, performing speed changes according to the reference values and time, and calculating and setting the rising speed of the agitation tool so that a blade cutting frequency for the agitation tool reliably reaches a target value.SELECTED DRAWING: Figure 1 【課題】地盤施工機において、工具の駆動トルクの上限値と下限値を設定でき、その間で安定的かつ円滑な自動変速を行うとともに、撹拌工具による羽根切回数が確実に目標値に到達することが可能な制御方法を提供する。【解決手段】撹拌工具１１と、押しのけ容積を連続的に変更可能な油圧モータ８１と、油圧モータへの供給流体の圧力検出器８６を備えた地盤施工機における制御方法であって、工具の駆動トルクの上限値と下限値およびその間の複数の変速段を設定し、供給流体の圧力の下方基準値および上方基準値と基準時間を設定して、それらに従って変速段移行を行うようにする。そして、撹拌工具による羽根切回数が確実に目標値に到達するように撹拌工具の上昇速度を演算して設定する。【選択図】図１