JP2015096401A - 作業車両及びその制御方法 - Google Patents
作業車両及びその制御方法 Download PDFInfo
- Publication number
- JP2015096401A JP2015096401A JP2013237340A JP2013237340A JP2015096401A JP 2015096401 A JP2015096401 A JP 2015096401A JP 2013237340 A JP2013237340 A JP 2013237340A JP 2013237340 A JP2013237340 A JP 2013237340A JP 2015096401 A JP2015096401 A JP 2015096401A
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- Prior art keywords
- pump
- engine
- pump brake
- hydraulic
- torque
- 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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- 230000008929 regeneration Effects 0.000 claims description 21
- 238000011069 regeneration method Methods 0.000 claims description 21
- 230000001172 regenerating effect Effects 0.000 claims description 11
- 238000001816 cooling Methods 0.000 claims description 10
- 238000004146 energy storage Methods 0.000 claims description 9
- 239000000498 cooling water Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 46
- 238000010586 diagram Methods 0.000 description 20
- 239000003990 capacitor Substances 0.000 description 18
- 230000006870 function Effects 0.000 description 12
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- 238000009412 basement excavation Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
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- 230000007935 neutral effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
Images
Classifications
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- E—FIXED CONSTRUCTIONS
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- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
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- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/431—Control of dipper or bucket position; Control of sequence of drive operations for bucket-arms, front-end loaders, dumpers or the like
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- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
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- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
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- B60K6/445—Differential gearing distribution type
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- 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
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- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
- B60W20/14—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion in conjunction with braking regeneration
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- E—FIXED CONSTRUCTIONS
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- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
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- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
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- E02F9/2025—Particular purposes of control systems not otherwise provided for
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- 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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F02D29/06—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 electric generators
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- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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Abstract
Description
車速が0以上V1以下の領域では、LクラッチCLが接続され、HクラッチCHが切断される(Loモード)。このLoモードでは、HクラッチCHが切断されているので、第2キャリアC2と第1リングギアR1とが切断される。また、LクラッチCLが接続されるので、第2キャリアC2が固定される。
Ts1_Low = Te_ref * r_fr
Tc1_Low = Ts1_Low * (-1) * ( (Zr1/Zs1) + 1 )
Tr2_Low = To_ref * (Zod/Zo)
Ts2_Low = Tr2_Low * (Zs2/Zr2)
Tcp1_Low = Tc1_Low + Ts2_Low
Tm1_Low = Tcp1_Low * (-1) * (Zp1/Zp1d)
Tr1_Low = Ts1_Low * (Zr1/Zs1)
Tm2_Low = Tr1_Low * (-1) * (Zp2/Zp2d)
また、指令トルク決定部83は、以下の数2に示す第2のトルクバランス情報を用いてHiモードでのモータMG1, MG2への指令トルクTm1_Hi,Tm2_ Hiを決定する。本実施形態において、第2のトルクバランス情報は、動力伝達装置24でのトルクの釣り合いの式である。
Ts1_Hi = Te_ref * r_fr
Tc1_Hi = Ts1_Hi * (-1) * ( (Zr1/Zs1) + 1 )
Tr2_Hi = To_ref * (Zod/Zo)
Ts2_Hi = Tr2_Hi * (Zs2/Zr2)
Tcp1_Hi = Tc1_Hi + Ts2_Hi
Tm1_Hi = Tcp1_Hi * (-1) * (Zp1/Zp1d)
Tr1_Hi = Ts1_Hi * (Zr1/Zs1)
Tc2_Hi = Tr2_Hi * (-1) * ( (Zs2/Zr2) + 1 )
Tcp2_Hi = Tr1_Hi + Tc2_Hi
Tm2_Hi = Tcp2_Hi * (-1) * (Zp2/Zp2d)
ここで、各トルクバランス情報のパラメータの内容は以下の表1の通りである。
Te_ref = (Htm - Hem) / Nout
Htmは、上述したトランスミッション要求馬力である。要求牽引力Toutが負の値に決定されたときには、要求牽引力Toutは、エンジンブレーキによる制動時に動力伝達装置24の出力軸63において吸収する制動力の目標値である目標制動力に相当する。この場合、Htmは、制動時に動力伝達装置24の出力軸63において吸収する制動パワーの目標値である目標制動パワーに相当する。従って、エンジンブレーキによる制動時には、作業機要求決定部86は、目標制動パワーHtmを決定する目標制動パワー決定部として機能する。なお、上記の数3式において、Htmに所定の効率が乗じられてもよい。
Tpto1 = (Te_ref - Te_loss) * k1
Te_lossは、エンジンロスであり、エンジン21において吸収できる制動パワーに相当する。エンジンロスTe_lossは固定値であってもよい。あるいは、エンジンロスTe_lossは、エンジン回転速度Neからテーブル或いは数式等により決定されてもよい。k1は所定の係数であり、0より大きく、1より小さい。なお、第1ポンプブレーキトルクTpto1に上限値と下限値とが設定されてもよい。
Q_Lo_ref =((Tpto_ref - Tpto_fix ) / Pwp) * Ne
Tpto_fixは、エンジン21の出力軸換算の固定負荷であり、制動力の制御のための調整を行わない負荷である。例えば、Tpto_fixは、ステアリングポンプ30の負荷トルクとトランスミッションポンプ29の負荷トルクと、その他の図示しない補機による負荷トルクとの合計である。Pwpは、上述した作業機ポンプ圧である。
PTOB_Q_ref = Q_Lo_ref - Qdm
Qdmは、上述した作業機ポンプ23の要求流量である。すなわち、ポンプブレーキトルク制御部92は、ポンプブレーキトルクTpto_refを得るための作業機ポンプ23の必要流量Q_Lo_refと、作業機3を駆動するための作業機ポンプ23の要求流量Qdmとに基づいて、ポンプブレーキ弁流量PTOB_Q_refを決定する。
Claims (16)
- 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、
前記エンジンによって駆動される走行装置と、
前記エンジンからの駆動力を前記走行装置に伝達する動力伝達装置と、
前記エンジンからの駆動力を前記油圧ポンプと前記動力伝達装置とに分配する動力取り出し装置と、
前記油圧ポンプと前記動力伝達装置とを制御する制御部と、
を備え、
前記動力伝達装置は、
入力軸と、
出力軸と、
遊星歯車機構を有し、前記入力軸の回転を前記出力軸に伝達する歯車機構と、
前記遊星歯車機構の回転要素に接続されるモータと、
を有し、
前記動力伝達装置は、前記モータの回転速度を変化させることによって、前記入力軸に対する前記出力軸の回転速度比を変化させるように構成されており、
前記制御部は、
制動時に、前記油圧ポンプの負荷によって制動力を発生させるポンプブレーキ制御の実行を判定するポンプブレーキ制御判定部と、
前記ポンプブレーキ制御において、前記油圧ポンプの負荷に相当するポンプブレーキトルクを増大させるポンプブレーキトルク制御部と、
を有する、
作業車両。 - 前記ポンプブレーキ制御判定部は、前記走行装置から前記動力伝達装置を介して前記エンジンに回生されるエンジン回生トルクが所定のトルク閾値以上であるときに、前記ポンプブレーキ制御の実行を決定する、
請求項1に記載の作業車両。 - 前記ポンプブレーキ制御判定部は、エンジン回転速度が所定の回転速度閾値以上であるときに、前記ポンプブレーキ制御の実行を決定する、
請求項1又は2に記載の作業車両。 - 前記ポンプブレーキトルク制御部は、前記走行装置から前記動力伝達装置を介して前記エンジンに回生されるエンジン回生トルクに基づいて、前記ポンプブレーキトルクを制御する、
請求項1に記載の作業車両。 - 前記モータによって回生されるエネルギーを貯留するエネルギー貯留部をさらに備え、
前記制御部は、
目標制動パワーを決定する目標制動パワー決定部と、
前記エネルギー貯留部での貯留パワーを演算する貯留パワー演算部と、
をさらに有し、
前記ポンプブレーキトルク制御部は、前記目標制動パワーと前記貯留パワーとに基づいて、前記エンジン回生トルクを決定する、
請求項4に記載の作業車両。 - 前記ポンプブレーキトルク制御部は、エンジン回転速度が、前記ポンプブレーキ制御の実行中における目標エンジン回転速度になるように、前記ポンプブレーキトルクを制御する、
請求項1から5のいずれかに記載の作業車両。 - 前記ポンプブレーキトルク制御部は、車速が所定の車速閾値以上になると、前記ポンプブレーキトルクを増大させる、
請求項1から6のいずれかに記載の作業車両。 - 車速の上限を規定する速度範囲を選択するための変速操作部材をさらに備え、
前記ポンプブレーキトルク制御部は、前記変速操作部材によって選択されている速度範囲に基づいて、前記所定の車速閾値を決定する、
請求項7に記載の作業車両。 - 車両の前進と後進とを切り換えるための前後進操作部材をさらに備え、
前記ポンプブレーキトルク制御部は、前記前後進操作部材による選択に基づいて、前記所定の車速閾値を決定する、
請求項7又は8に記載の作業車両。 - 油圧シリンダを有する作業機をさらに備え、
前記油圧ポンプは、前記油圧シリンダを駆動するための作動油を吐出する、
請求項1から9のいずれかに記載の作業車両。 - 油圧回路において前記油圧シリンダと並列に設けられるリリーフ弁と、
前記リリーフ弁に供給される作動油を制御するポンプブレーキ制御弁と、
をさらに備え、
前記ポンプブレーキトルク制御部は、前記ポンプブレーキ制御弁を制御することで、前記油圧ポンプの負荷を増大させる、
請求項10に記載の作業車両。 - 前記作業機を操作するための作業機操作部材をさらに備え、
前記制御部は、
前記ポンプブレーキトルクに基づいて前記油圧ポンプの必要流量を決定する必要ポンプ流量決定部と、
前記作業機操作部材の操作量に基づいて前記油圧シリンダの要求流量を決定する作業機要求決定部と、
をさらに有し、
前記ポンプブレーキトルク制御部は、前記油圧ポンプの前記必要流量と、前記油圧シリンダの前記要求流量とに基づいて、前記ポンプブレーキ制御弁での流量を決定する、
請求項11に記載の作業車両。 - 前記エンジンの冷却水を冷却するための冷却ファンと、
前記冷却ファンを駆動するためのファンモータと、
をさらに備え、
前記油圧ポンプは、前記ファンモータを駆動するための作動油を吐出し、
前記ポンプブレーキトルク制御部は、前記ファンモータの回転速度を増大させることで前記油圧ポンプの負荷を増大させる、
請求項1から9のいずれかに記載の作業車両。 - 前記油圧ポンプに接続される暖機用油圧回路をさらに備え、
前記ポンプブレーキトルク制御部は、前記暖機用油圧回路によって作動油の温度を上昇させる暖機運転を実行することで、前記油圧ポンプの負荷を増大させる、
請求項1から9のいずれかに記載の作業車両。 - 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油圧シリンダを有する作業機と、
前記作業機を操作するための作業機操作部材と、
油圧回路において前記油圧シリンダと並列に設けられるリリーフ弁と、
前記リリーフ弁に供給される作動油を制御するポンプブレーキ制御弁と、
前記モータによって回生されるエネルギーを貯留するエネルギー貯留部と、
をさらに備え、
前記制御部は、
目標制動パワーを決定する目標制動パワー決定部と、
前記エネルギー貯留部での貯留パワーを演算する貯留パワー演算部と、
前記ポンプブレーキトルクに基づいて前記油圧ポンプの必要流量を決定する必要ポンプ流量決定部と、
前記作業機操作部材の操作量に基づいて前記油圧シリンダの要求流量を決定する作業機要求決定部と、
をさらに有し、
前記ポンプブレーキトルク制御部は、前記走行装置から前記動力伝達装置を介して前記エンジンに回生されるエンジン回生トルクを、前記目標制動パワーと前記貯留パワーとに基づいて決定し、
前記ポンプブレーキ制御判定部は、前記エンジン回生トルクが所定のトルク閾値以上であり、且つ、エンジン回転速度が所定の回転速度閾値以上であるときに、前記ポンプブレーキ制御の実行を決定し、
前記ポンプブレーキトルク制御部は、エンジン回転速度が、前記ポンプブレーキ制御の実行中における目標エンジン回転速度になるように、前記ポンプブレーキトルクを決定し、
前記ポンプブレーキトルク制御部は、前記ポンプブレーキトルクに基づいて決定された前記油圧ポンプの前記必要流量と、前記油圧シリンダの前記要求流量とに基づいて、前記ポンプブレーキ制御弁での流量を決定し、
前記ポンプブレーキトルク制御部は、前記ポンプブレーキ制御弁を制御することで、前記油圧ポンプの負荷を増大させる、
請求項1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、
前記エンジンによって駆動される走行装置と、
前記エンジンからの駆動力を前記走行装置に伝達する動力伝達装置と、
前記エンジンからの駆動力を前記油圧ポンプと前記動力伝達装置とに分配する動力取り出し装置と、
を備える作業車両の制御方法であって、
前記動力伝達装置は、
入力軸と、
出力軸と、
遊星歯車機構を有し、前記入力軸の回転を前記出力軸に伝達する歯車機構と、
前記遊星歯車機構の回転要素に接続されるモータと、
を有し、
前記動力伝達装置は、前記モータの回転速度を変化させることによって、前記入力軸に対する前記出力軸の回転速度比を変化させるように構成されており、
制動時に、前記油圧ポンプの負荷によって制動力を発生させるポンプブレーキ制御の実行を判定するステップと、
前記ポンプブレーキ制御において、前記油圧ポンプの負荷に相当するポンプブレーキトルクを増大させるステップと、
を備える作業車両の制御方法。
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CN113056592B (zh) * | 2018-11-19 | 2023-02-21 | 株式会社小松制作所 | 作业车辆、动力机械的控制装置及控制方法 |
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EP2949530A1 (en) | 2015-12-02 |
CN105026234A (zh) | 2015-11-04 |
US20160017570A1 (en) | 2016-01-21 |
US9885168B2 (en) | 2018-02-06 |
WO2015072264A1 (ja) | 2015-05-21 |
EP2949530A4 (en) | 2016-12-14 |
JP6297821B2 (ja) | 2018-03-20 |
CN105026234B (zh) | 2018-09-11 |
EP2949530B1 (en) | 2021-12-08 |
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