EP0539589A1 - Verfahren und vorrichtung zur steuerung eines fahrzeugs für beladungsoperation - Google Patents

Verfahren und vorrichtung zur steuerung eines fahrzeugs für beladungsoperation Download PDF

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Publication number
EP0539589A1
EP0539589A1 EP91912321A EP91912321A EP0539589A1 EP 0539589 A1 EP0539589 A1 EP 0539589A1 EP 91912321 A EP91912321 A EP 91912321A EP 91912321 A EP91912321 A EP 91912321A EP 0539589 A1 EP0539589 A1 EP 0539589A1
Authority
EP
European Patent Office
Prior art keywords
torque
hydraulic pump
variable capacity
engine
pump
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP91912321A
Other languages
English (en)
French (fr)
Other versions
EP0539589A4 (de
EP0539589B1 (de
Inventor
Masanori Komatsu Mec Kabushiki Kaisha Ikari
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Komatsu MEC Corp
Komatsu MEC KK
Original Assignee
Komatsu Ltd
Komatsu MEC Corp
Komatsu MEC KK
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd, Komatsu MEC Corp, Komatsu MEC KK filed Critical Komatsu Ltd
Publication of EP0539589A1 publication Critical patent/EP0539589A1/de
Publication of EP0539589A4 publication Critical patent/EP0539589A4/en
Application granted granted Critical
Publication of EP0539589B1 publication Critical patent/EP0539589B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
    • F02D29/04—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving pumps

Definitions

  • the present invention relates to a unit and a method for controlling a construction vehicle mainly for loading work such as a wheel loader, etc.
  • FIG. 7 A conventional control system of a unit for controlling a wheel loader mainly for loading work is illustrated in Fig. 7.
  • the engine E is controlled by way of a governor gv through a linkage li by operating an accelerating pedal ap.
  • the output of the engine E is transmitted to a torque converter T and a gear G and the output transmitted to the gear G drives a variable capacity hydraulic pump P.
  • the variable capacity hydraulic pump P controls a variable capacity hydraulic pump control valve pc by way of a servo cylinder SC so as to control the amount of oil under pressure.
  • a bucket operation pilot valve AL When a bucket operation pilot valve AL is operated to actuate a bucket main operation valve AV to thereby turn a bucket A by way of a bucket cylinder AC, so that the bucket A tilts rearward or dumps forward.
  • a boom operation pilot valve BL When a boom operation pilot valve BL is operated to actuate a boom main operation valve BV to thereby turn a boom B by way of a boom cylinder BC, the boom B lifts upward or lowers downward.
  • Designated at PP is a pilot pump.
  • the pressure versus flow rate characteristic diagram of the variable capacity hydraulic pump in the conventional control system of a loading machine is illustrated in Fig. 8.
  • the hydraulic pump torque at high pressure can be limited to a necessary and sufficient amount by varying the flow rate Q according to the pump discharge hydraulic pressure P corresponding to the maximum hydraulic pump torque T X1 or T X2 .
  • the output of the engine E is distributed to the hydraulic pump PV and the power transmission device of the driving mechanism (torque converter T) as illustrated in Figs.
  • the present invention provides a unit for controlling a vehicle for loading operation which carries a variable capacity hydraulic pump for operating a loading machine and a torque converter for driving itself, the control unit comprising an engine provided with an electronically controlled governor capable of selecting stepwise the output characteristic of the engine, electromagnetic changeover valves for setting stepwise the maximum capacity and the output torque of the variable capacity hydraulic pump, a pump capacity detector, an hydraulic pressure detector, a switch for selecting the output characteristics of the engine and the variable capacity hydraulic pump (hereinafter referred to M mode control switch), an electronic governor controller for controlling engine output characteristics and a variable capacity pump controller for selectively setting the maximum capacity and the output torque characteristics of the variable capacity hydraulic pump, so as to control the amounts and distribution of the hydraulic output and the driving output by selecting the M mode control switch for the improvement of operability.
  • M mode control switch a switch for controlling engine output characteristics and a variable capacity pump controller for selectively setting the maximum capacity and the output torque characteristics of the variable capacity hydraulic pump, so as to control the amounts and distribution of the hydraulic output and the driving output by selecting the M mode control
  • control unit is equipped with a selective switch capable of selecting stepwise the cut-off pressure of the discharge flow of the variable capacity pump (hereinafter referred to L mode control switch).
  • L mode control switch capable of selecting stepwise the cut-off pressure of the discharge flow of the variable capacity pump
  • Fig. 1 is a view showing the control system of a vehicle for loading work according to an embodiment of the present invention
  • Fig. 2 is a view for explaining the pressure versus flow rate characteristic curve of a variable capacity pump PV
  • Figs. 3(a), 3(b) and 3(c) are diagrams for explaining the distributions of power by a combination of M1 mode and L1 mode, by a combination of M2 mode and L2 mode and by a combination of M3 mode and L3 mode respectively
  • Figs. 4(a) and 4(b) respectively shows flowcharts of the control method of loading machine according to the present invention
  • Fig. 1 is a view showing the control system of a vehicle for loading work according to an embodiment of the present invention
  • Fig. 2 is a view for explaining the pressure versus flow rate characteristic curve of a variable capacity pump PV
  • Figs. 3(a), 3(b) and 3(c) are diagrams for explaining the distributions of power by a combination of M1 mode and L1 mode, by
  • FIG. 5 is a diagram for explaining a control method for reducing the setting of an engine torque in response to a hydraulic torque
  • Figs 6(a) and 6(b) are views for explaining the power distribution matrix of the loading machine hydraulic pressure L and the driving force M
  • Figs. 7, 8 and 9 are diagrams for explaining a conventional control unit.
  • Fig. 1 is a block diagram showing the control system of a vehicle for loading work according to an embodiment of present invention wherein elements which operate in the same way as the conventional system as explained in Fig. 7 are denoted at the same numerals.
  • An engine E has an electronically controlled governor 10 which is mounted thereon and is capable of optionally selecting output characteristics stepwise and an electronic governor controller 11 is provided for controlling the electronically controlled governor 10 in response to input signals (1) to (4) set forth hereunder.
  • the variable capacity pump controller 41 receives signals from and sends signals to the electronic governor controller 11 and outputs a signal to an electromagnetic pilot valve 46 to thereby selectively switch the electromagnetic pilot valve 46.
  • FIG. 2 shows the hydraulic pressure versus flow rate characteristic curves of the variable capacity pump PV according to an embodiment of the present invention. It is possible to set stepwise a plurality of M modes such as M1 mode, M2 mode and M3 mode by operating the M mode control switch 42 thereby to set the torque characteristics of the engine E as indicated by the engine torque curves at M1 mode, M2 mode and M3 mode by way of the electronically controlled governor 10, and it is possible to set stepwise the maximum hydraulic pressure of the loading machine in a plurality of L modes such as L1 mode, L2 mode and L3 mode by selectively setting the torque characteristic of the engine E in accordance with the setting of the M mode control switch 42 among those indicated by the engine torque curves of M1, M2 and M3 modes illustrated respectively in Figs. 3(a), 3(b) and 3(c) by way of the electronically controlled governor 10 and by operating the L mode control switch 43.
  • M modes such as M1 mode, M2 mode and M3 mode
  • the maximum torque points are B1, B2 and B3
  • the hydraulic torques at the maximum torque points are T B1 , T B2 and T B3 respectively
  • the absorption torque points of the torque converters at the maximum torque points are B1', B2' and B3' respectively as illustrated in Figs. 3(a), 3(b) and 3(c), so that it is possible to conform the order in strength of hydraulic torques, i.e., T B1 > T B2 > T B3 to the order in strength of driving forces (absorption torques of the torque converter), i.
  • the maximum engine speeds are changed when the hydraulic torques of the hydraulic pressure P A are around T A1 , T A2 and T A3 , and the absorption torques of the torque converter are A1', A2 'and A3' respectively when the hydraulic torques are T A1 , T A2 and T A3 .
  • the absorption torques of the torque converter at the points A4, A5, A6, B4, B5 and B6 on a curve having a same hydraulic pressure in Fig. 2 are respectively changed to those at the points A4' A5' A6', B4', B5' and B6' in Figs. 3(a), 3(b) and 3(c).
  • Fig. 4(a) shows a control flowchart of the electronically controlled governor 10 for reducing the set maximum engine speed when the loading machine hydraulic pressure is more than P A1 (or P A2 or P A3 ), the capacity of the pump is cut off and the hydraulic torques are under T A1 (or T A2 or T A3 ), while Fig.
  • FIG. 4(b) shows a control flowchart for controlling the target engine speed according to the loading machine hydraulic pressure when the hydraulic pressure of the loading machine is more than P B1 (or P B2 or P B3 ),the capacity of the pump is cut off and the hydraulic torques are under T B1 (or T B2 or T B3 ).
  • the present invention has also a great effect that it can correspond to various working conditions with ease since the distribution of power between the loading machine and driving mechanism can be selected by matrix, i.e., a combination of two variables.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Operation Control Of Excavators (AREA)
EP91912321A 1990-07-18 1991-07-16 Verfahren und vorrichtung zur steuerung eines fahrzeugs für beladungsoperation Expired - Lifetime EP0539589B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP187869/90 1990-07-18
JP2187869A JP2520771B2 (ja) 1990-07-18 1990-07-18 積み込み作業車両の制御方法及び装置
PCT/JP1991/000948 WO1992001869A1 (en) 1990-07-18 1991-07-16 Method and unit for controlling vehicle for loading operation

Publications (3)

Publication Number Publication Date
EP0539589A1 true EP0539589A1 (de) 1993-05-05
EP0539589A4 EP0539589A4 (de) 1995-03-22
EP0539589B1 EP0539589B1 (de) 1997-01-02

Family

ID=16213642

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91912321A Expired - Lifetime EP0539589B1 (de) 1990-07-18 1991-07-16 Verfahren und vorrichtung zur steuerung eines fahrzeugs für beladungsoperation

Country Status (4)

Country Link
EP (1) EP0539589B1 (de)
JP (1) JP2520771B2 (de)
DE (1) DE69123971T2 (de)
WO (1) WO1992001869A1 (de)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0780522A1 (de) * 1995-12-22 1997-06-25 Hitachi Construction Machinery Co., Ltd. Regelsystem für das Drehmoment einer Pumpe
GB2318886A (en) * 1996-10-29 1998-05-06 Samsung Heavy Ind Controlling engine-pump system of hydraulic construction machine
WO1999054557A1 (en) * 1998-04-23 1999-10-28 Caterpillar Inc. Apparatus and method for controlling a variable displacement pump
EP1154162A1 (de) * 1999-11-18 2001-11-14 Shin Caterpillar Mitsubishi Ltd. Vorrichtung zur regelung hydraulische pumpen
WO2004085193A1 (de) * 2003-03-28 2004-10-07 Zf Friedrichshafen Ag Antriebsstrang zum antrieb eines mobil-fahrzeugs
EP1655469A1 (de) * 2003-08-12 2006-05-10 Hitachi Construction Machinery Co., Ltd. Steuervorrichtung für arbeitsfahrzeug
WO2008124024A2 (en) * 2007-04-04 2008-10-16 Clark Equipment Company Power machine or vehicle with power management
US8306704B2 (en) 2006-01-10 2012-11-06 Komatsu Ltd. Engine control device for working vehicle
CN101432529B (zh) * 2006-05-10 2013-08-28 住友建机株式会社 建筑机械的防过载装置
FR3027971A1 (fr) * 2014-11-05 2016-05-06 Groupe Mecalac Dispositif de regulation de puissance d'une pompe hydraulique

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3274541B2 (ja) * 1993-07-06 2002-04-15 株式会社日立製作所 浄水場管理支援方法及び支援システム
KR20000021949A (ko) * 1998-09-30 2000-04-25 토니헬샴 엔진 회전수 제어장치 및 방법
JP4714721B2 (ja) * 2007-09-19 2011-06-29 日立建機株式会社 走行式油圧作業機
JP5226734B2 (ja) * 2010-05-20 2013-07-03 株式会社小松製作所 ハイブリッド建設機械
JPWO2015064747A1 (ja) * 2014-10-31 2017-03-09 株式会社小松製作所 ホイールローダおよびホイールローダの制御方法
JP6087382B2 (ja) * 2015-03-20 2017-03-01 株式会社小松製作所 ホイールローダおよびホイールローダの制御方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4015482A (en) * 1975-04-14 1977-04-05 Kabushiki Kaisha Komatsu Seisakusho Control system for power train and auxiliary equipment driven from a common prime mover
EP0214633A1 (de) * 1985-09-07 1987-03-18 Hitachi Construction Machinery Co., Ltd. Steuersystem für hydraulisch betätigte Bearbeitungsmaschinen
JPS63195402A (ja) * 1987-02-06 1988-08-12 Komatsu Ltd 油圧制御装置
JPS63235631A (ja) * 1987-03-24 1988-09-30 Komatsu Ltd ブルド−ザのエンジン出力制御方法

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2724820B2 (ja) * 1986-12-18 1998-03-09 株式会社小松製作所 可変容量型油圧ポンプの制御装置
JP2587819B2 (ja) * 1986-12-27 1997-03-05 日立建機株式会社 建設機械の油圧制御装置
JP2511925B2 (ja) * 1987-01-30 1996-07-03 株式会社小松製作所 建設機械のエンジン回転数制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4015482A (en) * 1975-04-14 1977-04-05 Kabushiki Kaisha Komatsu Seisakusho Control system for power train and auxiliary equipment driven from a common prime mover
EP0214633A1 (de) * 1985-09-07 1987-03-18 Hitachi Construction Machinery Co., Ltd. Steuersystem für hydraulisch betätigte Bearbeitungsmaschinen
JPS63195402A (ja) * 1987-02-06 1988-08-12 Komatsu Ltd 油圧制御装置
JPS63235631A (ja) * 1987-03-24 1988-09-30 Komatsu Ltd ブルド−ザのエンジン出力制御方法

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 12, no. 475 (M-774) 13 December 1988 & JP-A-63 195 402 (KOMATSU LTD.) 12 August 1988 *
PATENT ABSTRACTS OF JAPAN vol. 13, no. 25 (M-787) 20 January 1989 & JP-A-63 235 631 (KOMATSU LTD.) 30 September 1988 *
See also references of WO9201869A1 *

Cited By (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0780522A1 (de) * 1995-12-22 1997-06-25 Hitachi Construction Machinery Co., Ltd. Regelsystem für das Drehmoment einer Pumpe
GB2318886A (en) * 1996-10-29 1998-05-06 Samsung Heavy Ind Controlling engine-pump system of hydraulic construction machine
GB2318886B (en) * 1996-10-29 2000-03-08 Samsung Heavy Ind Method for controlling engine-pump system of hydraulic construction machine
WO1999054557A1 (en) * 1998-04-23 1999-10-28 Caterpillar Inc. Apparatus and method for controlling a variable displacement pump
US6073442A (en) * 1998-04-23 2000-06-13 Caterpillar Inc. Apparatus and method for controlling a variable displacement pump
EP1154162A1 (de) * 1999-11-18 2001-11-14 Shin Caterpillar Mitsubishi Ltd. Vorrichtung zur regelung hydraulische pumpen
EP1154162A4 (de) * 1999-11-18 2003-05-02 Caterpillar Mitsubishi Ltd Vorrichtung zur regelung hydraulische pumpen
US6672055B1 (en) 1999-11-18 2004-01-06 Shin Caterpillar Mitsubishi Ltd. Hydraulic pump control device
WO2004085193A1 (de) * 2003-03-28 2004-10-07 Zf Friedrichshafen Ag Antriebsstrang zum antrieb eines mobil-fahrzeugs
EP1655469A4 (de) * 2003-08-12 2009-02-25 Hitachi Construction Machinery Steuervorrichtung für arbeitsfahrzeug
EP1655469A1 (de) * 2003-08-12 2006-05-10 Hitachi Construction Machinery Co., Ltd. Steuervorrichtung für arbeitsfahrzeug
US8306704B2 (en) 2006-01-10 2012-11-06 Komatsu Ltd. Engine control device for working vehicle
CN101432529B (zh) * 2006-05-10 2013-08-28 住友建机株式会社 建筑机械的防过载装置
US8578709B2 (en) 2006-05-10 2013-11-12 Sumitomo (S.H.I.) Construction Machinery Co., Ltd. Over-loading prevention device of construction machinery
WO2008124024A3 (en) * 2007-04-04 2008-12-11 Clark Equipment Co Power machine or vehicle with power management
CN101652521B (zh) * 2007-04-04 2012-12-19 克拉克设备公司 具有动力管理的动力机械和车辆
WO2008124024A2 (en) * 2007-04-04 2008-10-16 Clark Equipment Company Power machine or vehicle with power management
US8718878B2 (en) 2007-04-04 2014-05-06 Clark Equipment Company Power machine or vehicle with power management
FR3027971A1 (fr) * 2014-11-05 2016-05-06 Groupe Mecalac Dispositif de regulation de puissance d'une pompe hydraulique
EP3018346A1 (de) * 2014-11-05 2016-05-11 Groupe Mecalac Leistungsreguliervorrichtung einer hydraulischen pumpe

Also Published As

Publication number Publication date
JP2520771B2 (ja) 1996-07-31
EP0539589A4 (de) 1995-03-22
DE69123971T2 (de) 1997-04-30
EP0539589B1 (de) 1997-01-02
WO1992001869A1 (en) 1992-02-06
DE69123971D1 (de) 1997-02-13
JPH0476126A (ja) 1992-03-10

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