JP2013210013A - 作業車両及び作業車両の制御方法 - Google Patents
作業車両及び作業車両の制御方法 Download PDFInfo
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- JP2013210013A JP2013210013A JP2012078939A JP2012078939A JP2013210013A JP 2013210013 A JP2013210013 A JP 2013210013A JP 2012078939 A JP2012078939 A JP 2012078939A JP 2012078939 A JP2012078939 A JP 2012078939A JP 2013210013 A JP2013210013 A JP 2013210013A
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- JP
- Japan
- Prior art keywords
- engine
- capacity
- hydraulic motor
- drive circuit
- 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.)
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
- B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle
- B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels
- B60K28/165—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle responsive to, or preventing, skidding of wheels acting on elements of the vehicle drive train other than the propulsion unit and brakes, e.g. transmission, clutch, differential
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/101—Infinitely variable gearings
- B60W10/103—Infinitely variable gearings of fluid type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/42—Control of exclusively fluid gearing hydrostatic involving adjustment of a pump or motor with adjustable output or capacity
- F16H61/421—Motor capacity control by electro-hydraulic control means, e.g. using solenoid valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/38—Control of exclusively fluid gearing
- F16H61/40—Control of exclusively fluid gearing hydrostatic
- F16H61/46—Automatic regulation in accordance with output requirements
- F16H61/472—Automatic regulation in accordance with output requirements for achieving a target output torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
- B60W2710/105—Output torque
Abstract
【解決手段】作業車両は、エンジンと、油圧ポンプと、走行用油圧モータと、アクセル操作部材と、制御部と、を備える。油圧ポンプは、エンジンによって駆動される。走行用油圧モータは、油圧ポンプから吐出された作動油によって駆動される。アクセル操作部材は、エンジンの目標回転速度を設定するために操作される。制御部は、走行用油圧モータの容量を最大容量よりも小さい上限容量に制限することにより最大牽引力を低減させるトラクション制御を行う。制御部は、トラクション制御において、アクセル操作部材の操作量又はエンジン回転速度の増大に応じて走行用油圧モータの上限容量を増大させる。
【選択図】図7
Description
4 第1油圧ポンプ
10 走行用油圧モータ
12 車体コントローラ
13a アクセル操作部材
15 トラクション制御選択部材
50 作業車両
Claims (5)
- エンジンと、
前記エンジンによって駆動される油圧ポンプと、
前記油圧ポンプから吐出された作動油によって駆動される走行用油圧モータと、
前記エンジンの目標回転速度を設定するために操作されるアクセル操作部材と、
前記走行用油圧モータの容量を最大容量よりも小さい上限容量に制限することにより最大牽引力を低減させるトラクション制御を行い、前記トラクション制御において前記アクセル操作部材の操作量又はエンジン回転速度の増大に応じて前記走行用油圧モータの上限容量を増大させる制御部と、
を備える作業車両。 - 前記制御部は、前記アクセル操作部材の操作量又は前記エンジン回転速度が、所定の閾値以上であるときに、前記アクセル操作部材の操作量又は前記エンジン回転速度の増大に応じて前記走行用油圧モータの上限容量を増大させる、
請求項1に記載の作業車両。 - 前記制御部は、前記アクセル操作部材の操作量又は前記エンジン回転速度が、前記所定の閾値より小さいときには、前記アクセル操作部材の操作量又は前記エンジン回転速度に関わらず前記走行用油圧モータの上限容量を一定値に設定する、
請求項2に記載の作業車両。 - 前記走行用油圧モータの傾転角を制御することで前記走行用油圧モータの容量が制御される、
請求項1から3のいずれかに記載の作業車両。 - エンジンと、前記エンジンによって駆動される油圧ポンプと、前記油圧ポンプから吐出された作動油によって駆動される走行用油圧モータと、前記エンジンの目標回転速度を設定するために操作されるアクセル操作部材と、を備える作業車両の制御方法であって、
前記走行用油圧モータの容量を最大容量よりも小さい上限容量に制限することにより最大牽引力を低減させるトラクション制御を行い、前記トラクション制御において前記アクセル操作部材の操作量又はエンジン回転速度の増大に応じて前記走行用油圧モータの上限容量を増大させる、
作業車両の制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012078939A JP5092060B1 (ja) | 2012-03-30 | 2012-03-30 | 作業車両及び作業車両の制御方法 |
PCT/JP2012/061877 WO2013145336A1 (ja) | 2012-03-30 | 2012-05-09 | 作業車両及び作業車両の制御方法 |
CN201280001384.8A CN103688089B (zh) | 2012-03-30 | 2012-05-09 | 作业车辆及作业车辆的控制方法 |
EP12780628.9A EP2667058B1 (en) | 2012-03-30 | 2012-05-09 | Work vehicle and method for controlling work vehicle |
US13/808,755 US9163386B2 (en) | 2012-03-30 | 2012-05-09 | Work vehicle and work vehicle control method |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012078939A JP5092060B1 (ja) | 2012-03-30 | 2012-03-30 | 作業車両及び作業車両の制御方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP5092060B1 JP5092060B1 (ja) | 2012-12-05 |
JP2013210013A true JP2013210013A (ja) | 2013-10-10 |
Family
ID=47469461
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012078939A Active JP5092060B1 (ja) | 2012-03-30 | 2012-03-30 | 作業車両及び作業車両の制御方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9163386B2 (ja) |
EP (1) | EP2667058B1 (ja) |
JP (1) | JP5092060B1 (ja) |
CN (1) | CN103688089B (ja) |
WO (1) | WO2013145336A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019003763A1 (ja) * | 2017-06-27 | 2019-01-03 | 株式会社小松製作所 | 作業車両、及び、作業車両の制御方法 |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103988789A (zh) * | 2014-05-22 | 2014-08-20 | 安徽安凯金达机械制造有限公司 | 一种自走式撒料车 |
JP6692568B2 (ja) * | 2015-01-06 | 2020-05-13 | 住友重機械工業株式会社 | 建設機械 |
US10407072B2 (en) | 2015-09-03 | 2019-09-10 | Deere & Company | System and method of regulating wheel slip in a traction vehicle |
US10112615B2 (en) * | 2015-09-03 | 2018-10-30 | Deere & Company | System and method of reacting to wheel slip in a traction vehicle |
US9845008B2 (en) | 2015-09-03 | 2017-12-19 | Deere & Company | System and method of detecting load forces on a traction vehicle to predict wheel slip |
US9994104B2 (en) | 2015-09-03 | 2018-06-12 | Deere & Company | System and method of reacting to wheel slip in a traction vehicle |
US9969402B2 (en) * | 2015-09-28 | 2018-05-15 | Caterpillar Inc. | Transmission system having efficiency-based speed control |
DE102017221985B4 (de) | 2017-12-06 | 2019-06-27 | Zf Friedrichshafen Ag | Zugkraftkraftbegrenzungseinrichtung für Arbeitsmaschine, stufenloses Getriebe, Arbeitsmaschine und Verfahren zur Zugkraftbegrenzung |
JP6749885B2 (ja) * | 2017-12-28 | 2020-09-02 | 日立建機株式会社 | ホイールローダ |
JP7245582B2 (ja) | 2018-11-16 | 2023-03-24 | 株式会社小松製作所 | 作業車両、及び作業車両の制御方法 |
JP7197433B2 (ja) * | 2019-06-11 | 2022-12-27 | 株式会社小松製作所 | 作業車両の制御装置、作業車両、および作業車両の制御方法 |
US11459731B2 (en) * | 2019-10-28 | 2022-10-04 | Kubota Corporation | Working machine |
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2012
- 2012-03-30 JP JP2012078939A patent/JP5092060B1/ja active Active
- 2012-05-09 WO PCT/JP2012/061877 patent/WO2013145336A1/ja active Application Filing
- 2012-05-09 US US13/808,755 patent/US9163386B2/en active Active
- 2012-05-09 CN CN201280001384.8A patent/CN103688089B/zh active Active
- 2012-05-09 EP EP12780628.9A patent/EP2667058B1/en active Active
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2019003763A1 (ja) * | 2017-06-27 | 2019-01-03 | 株式会社小松製作所 | 作業車両、及び、作業車両の制御方法 |
JPWO2019003763A1 (ja) * | 2017-06-27 | 2020-04-23 | 株式会社小松製作所 | 作業車両、及び、作業車両の制御方法 |
US11199260B2 (en) | 2017-06-27 | 2021-12-14 | Komatsu Ltd. | Work vehicle and control method for work vehicle |
JP7021210B2 (ja) | 2017-06-27 | 2022-02-16 | 株式会社小松製作所 | 作業車両、及び、作業車両の制御方法 |
Also Published As
Publication number | Publication date |
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JP5092060B1 (ja) | 2012-12-05 |
EP2667058B1 (en) | 2015-07-01 |
EP2667058A1 (en) | 2013-11-27 |
US20140200775A1 (en) | 2014-07-17 |
WO2013145336A1 (ja) | 2013-10-03 |
EP2667058A4 (en) | 2014-03-12 |
US9163386B2 (en) | 2015-10-20 |
CN103688089B (zh) | 2014-11-26 |
CN103688089A (zh) | 2014-03-26 |
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