PROBLEM TO BE SOLVED: To provide an attitude controller for a working vehicle, which slowly performs inclination adjustment of a traveling machine body or working machine in a shaking degree by small unevenness in a field, and quickly performs inclination adjustment of the traveling machine body or working machine in inclination by large unevenness, has a slight attitude variation and is stable.SOLUTION: The attitude controller of the working vehicle is equipped with an inclination sensor for detecting the absolute tilt angle of the traveling machine body or working machine, and an angular velocity sensor for detecting a tilt angle from a tilt angle speed and has a constitution that when a tilt angle detected by the angular velocity sensor is a fixed value or below, an absolute tilt angle detected by the inclination sensor is a target tilt angle, when a tilt angle detected by the angular velocity sensor exceeds a fixed value, a tilt angle detected by the angular velocity sensor is added to the absolute tilt angle of the traveling machine body or working machine in the operation to give a new target tilt angle and the attitude of the traveling machine body or working machine is adjusted and controlled.COPYRIGHT: (C)2011,JPO&INPIT【課題】本発明では、圃場の小さな凹凸による揺れ程度では走行機体又は作業機の傾き修正をゆっくりと行い、大きな凹凸による傾きに対しては走行機体又は作業機の傾き修正を迅速に行うことで姿勢変動の少ない安定した農作業車の姿勢制御装置を提供することを課題とする。【解決手段】走行機体又は作業機の絶対傾斜角を検出する傾斜センサと傾斜角の速さから傾斜角を検出する角速度センサを設け、該角速度センサが検出する傾斜角が所定値以下の場合には傾斜センサが検出する絶対傾斜角を傾斜目標角とし、角速度センサが検出する傾斜角が所定値を超えると、このときの走行機体又は作業機の絶対傾斜角に角速度センサが検出した傾斜角を加算して新たな傾斜目標角として走行機体又は作業機の姿勢を修正制御すべく構成したことを特徴とする農作業車の姿勢制御装置の構成とする。【選択図】図6
