Work machine

A work machine comprising:

• a vehicle body,
• a working device attached to the vehicle body,
• an actuator for driving the working device,
• a hydraulic pump,
• a direction control valve for controlling a flow of pressurized oil supplied from the hydraulic pump to the actuator,
• an operation lever for instructing the operation of the actuator, and
• a controller that controls the direction control valve according to an input amount of the operation lever, wherein
• the work machine comprises:
• an inertial measurement device that detects the posture and operating state of the working device, and
• pressure sensors that detect a meter-in pressure and a meter-out pressure of the actuator, and
• the controller is configured to
• calculate a target speed of the working device according to the input amount of the operation lever,
• calculate a actuator target flow rate that is a target value of the flow rate supplied to the actuator based on the target speed,
• calculate a pump target flow rate that is a target value of a discharge flow rate of the hydraulic pump, based on the actuator target flow rate,
• calculate the target meter-in pressure that is a target value of the meter-in pressure, based on the input amount of the operation lever, the output value of the inertia measuring device, and the meter-out pressure,
• calculate a difference between the speed of the working device obtained by the inertia measuring device and the target speed as a speed error,
• calculate a difference between the meter-in pressure and the target meter-in pressure as a pressure error,
• correct the pump target flow rate according to the speed error and the pressure error.